From ce22f0568d67e48a0266ea829fe163d16a78f6a2 Mon Sep 17 00:00:00 2001
From: e2hang <2099307493@qq.com>
Date: Wed, 10 Sep 2025 20:52:02 +0800
Subject: [PATCH] Reinforcement Learning
---
Pytorch/Project/CartPole/.idea/CartPole.iml | 8 +
.../inspectionProfiles/Project_Default.xml | 266 ++++++++++++++++++
.../inspectionProfiles/profiles_settings.xml | 6 +
Pytorch/Project/CartPole/.idea/misc.xml | 7 +
Pytorch/Project/CartPole/.idea/modules.xml | 8 +
Pytorch/Project/CartPole/.idea/workspace.xml | 79 ++++++
Pytorch/Project/CartPole/AddBuffer.py | 114 ++++++++
Pytorch/Project/CartPole/NoBuffer.py | 114 ++++++++
Pytorch/Project/CartPole/TestEnv.py | 22 ++
Pytorch/Project/CartPole/TestPthModule.py | 0
.../Project/CartPole/cartpole_dqn_success.pth | Bin 0 -> 22353 bytes
Pytorch/Project/ez0/HWCNN.png | Bin 0 -> 26542 bytes
Pytorch/Project/ez0/HWMLP.png | Bin 0 -> 21112 bytes
Pytorch/Project/ez0/noiseGraph.png | Bin 0 -> 72380 bytes
Pytorch/Project/ez0/noiseLoss.png | Bin 0 -> 48157 bytes
Pytorch/Project/ez0/x^2 + 2x + 1.png | Bin 0 -> 81463 bytes
16 files changed, 624 insertions(+)
create mode 100644 Pytorch/Project/CartPole/.idea/CartPole.iml
create mode 100644 Pytorch/Project/CartPole/.idea/inspectionProfiles/Project_Default.xml
create mode 100644 Pytorch/Project/CartPole/.idea/inspectionProfiles/profiles_settings.xml
create mode 100644 Pytorch/Project/CartPole/.idea/misc.xml
create mode 100644 Pytorch/Project/CartPole/.idea/modules.xml
create mode 100644 Pytorch/Project/CartPole/.idea/workspace.xml
create mode 100644 Pytorch/Project/CartPole/AddBuffer.py
create mode 100644 Pytorch/Project/CartPole/NoBuffer.py
create mode 100644 Pytorch/Project/CartPole/TestEnv.py
create mode 100644 Pytorch/Project/CartPole/TestPthModule.py
create mode 100644 Pytorch/Project/CartPole/cartpole_dqn_success.pth
create mode 100644 Pytorch/Project/ez0/HWCNN.png
create mode 100644 Pytorch/Project/ez0/HWMLP.png
create mode 100644 Pytorch/Project/ez0/noiseGraph.png
create mode 100644 Pytorch/Project/ez0/noiseLoss.png
create mode 100644 Pytorch/Project/ez0/x^2 + 2x + 1.png
diff --git a/Pytorch/Project/CartPole/.idea/CartPole.iml b/Pytorch/Project/CartPole/.idea/CartPole.iml
new file mode 100644
index 0000000..b910500
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diff --git a/Pytorch/Project/CartPole/.idea/inspectionProfiles/Project_Default.xml b/Pytorch/Project/CartPole/.idea/inspectionProfiles/Project_Default.xml
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diff --git a/Pytorch/Project/CartPole/.idea/inspectionProfiles/profiles_settings.xml b/Pytorch/Project/CartPole/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
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diff --git a/Pytorch/Project/CartPole/.idea/misc.xml b/Pytorch/Project/CartPole/.idea/misc.xml
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diff --git a/Pytorch/Project/CartPole/.idea/modules.xml b/Pytorch/Project/CartPole/.idea/modules.xml
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diff --git a/Pytorch/Project/CartPole/.idea/workspace.xml b/Pytorch/Project/CartPole/.idea/workspace.xml
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diff --git a/Pytorch/Project/CartPole/AddBuffer.py b/Pytorch/Project/CartPole/AddBuffer.py
new file mode 100644
index 0000000..36eac2b
--- /dev/null
+++ b/Pytorch/Project/CartPole/AddBuffer.py
@@ -0,0 +1,114 @@
+from collections import deque
+import numpy as np
+import random
+import torch
+import torch.optim as optim
+import torch.nn as nn
+import gymnasium as gym
+import torch.nn.functional as F
+
+
+class DQN(nn.Module):
+ def __init__(self, state_size, action_size):
+ super(DQN, self).__init__()
+ self.l1 = nn.Linear(state_size, 128)
+ self.l2 = nn.Linear(128, 32)
+ self.l4 = nn.Linear(32, action_size)
+
+ def forward(self, x):
+ x = F.relu(self.l1(x))
+ x = F.relu(self.l2(x))
+ x = self.l4(x)
+ return x
+
+lr = 0.001
+gamma = 0.99
+epsilon = 1.0
+memory = deque(maxlen=1000000)
+batch_size = 64
+epsilon_decay = 0.995
+epsilon_min = 0.01
+
+env = gym.make('CartPole-v1')
+state_size = env.observation_space.shape[0]
+action_size = env.action_space.n
+
+
+ez = DQN(state_size, action_size)
+optimizer = optim.Adam(ez.parameters(), lr=lr)
+criterion = nn.MSELoss()
+
+def replay():
+ if(len(memory) < batch_size):
+ return
+
+ #随机选一组64个训练
+ batch = random.sample(memory, batch_size)
+ states, actions, rewards, next_states, dones = zip(*batch)
+ states = torch.from_numpy(np.stack(states)) # 直接把 batch 堆成 array 再转 tensor
+ next_states = torch.from_numpy(np.stack(next_states))
+ rewards = torch.from_numpy(np.array(rewards, dtype=np.float32))
+ actions = torch.from_numpy(np.array(actions, dtype=np.int64))
+ dones = torch.from_numpy(np.array(dones, dtype=np.float32))
+
+ q_values = ez(states).gather(1, actions.unsqueeze(1)).squeeze()
+ next_q_values = ez(next_states).max(1)[0]
+ target = rewards + gamma * next_q_values * (1 - dones)
+
+ loss = criterion(q_values, target.detach())
+ optimizer.zero_grad()
+ loss.backward()
+ optimizer.step()
+
+for e in range(350):
+ state, _ = env.reset()
+ done = False
+ total_reward = 0
+ while not done:
+ if random.random() < epsilon:
+ action = env.action_space.sample()
+ else:
+ action = ez(torch.tensor(state, dtype=torch.float32)).argmax().item()
+
+ next_state, reward, terminated, truncated, _ = env.step(action)
+ done = terminated or truncated
+ # 在存储到 memory 时：
+ memory.append((np.array(state, dtype=np.float32),
+ action,
+ reward,
+ np.array(next_state, dtype=np.float32),
+ done))
+ state = next_state
+ total_reward += reward
+ replay()
+
+ epsilon = max(epsilon * epsilon_decay, epsilon_min)
+ print(f"Episode {e + 1}: Reward = {total_reward}")
+
+torch.save(ez.state_dict(), "cartpole_dqn.pth")
+print("Model saved to cartpole_dqn.pth")
+
+# 测试函数
+def test_agent(env, model, episodes=10):
+ env = gym.make('CartPole-v1', render_mode='human')
+ total_rewards = []
+ for ep in range(episodes):
+ state, _ = env.reset()
+ done = False
+ total_reward = 0.0
+ while not done:
+ # 关闭梯度计算，加速
+ with torch.no_grad():
+ action = model(torch.tensor(state, dtype=torch.float32)).argmax().item()
+ next_state, reward, terminated, truncated, _ = env.step(action)
+ done = terminated or truncated
+ state = next_state
+ total_reward += reward
+ total_rewards.append(total_reward)
+ print(f"Test Episode {ep+1}: reward = {total_reward}")
+
+ avg_reward = sum(total_rewards) / episodes
+ print(f"Average reward over {episodes} episodes: {avg_reward}")
+
+# 调用测试
+test_agent(env, ez, episodes=10)
\ No newline at end of file
diff --git a/Pytorch/Project/CartPole/NoBuffer.py b/Pytorch/Project/CartPole/NoBuffer.py
new file mode 100644
index 0000000..af1792e
--- /dev/null
+++ b/Pytorch/Project/CartPole/NoBuffer.py
@@ -0,0 +1,114 @@
+import gymnasium as gym
+import random
+import torch
+import torch.optim as optim
+import torch.nn.functional as F
+import torch.nn as nn
+import time
+
+# 创建环境
+#env = gym.make("CartPole-v1", render_mode="human") # human模式会用pyglet显示窗口
+env = gym.make('CartPole-v1')
+# 重置环境
+observation, info = env.reset()
+print("初始观察值:", observation)
+
+#记住DQN训练的是Q*，输出的也是Q*，而不是动作，动作要根据Q*判断并反馈
+class DQN(nn.Module):
+ def __init__(self, state_size, action_size):
+ super(DQN, self).__init__()
+ self.l1 = nn.Linear(state_size, 128)
+ self.l3 = nn.Linear(128, 64)
+ self.l4 = nn.Linear(64, 32)
+ self.l5 = nn.Linear(32, action_size)
+
+ def forward(self, x):
+ x = F.relu(self.l1(x))
+ x = F.relu(self.l3(x))
+ x = F.relu(self.l4(x))
+ x = self.l5(x)
+ return x
+
+
+#定义参数
+epsilon = 0.95
+state_size = env.observation_space.shape[0]
+action_size = env.action_space.n
+gamma = 0.99
+lrs = 0.005
+epsilon_decay = 0.995
+epsilon_min = 0.01
+batch_size = 64
+#memory = deque(maxlen=10000)
+num_episodes = 500
+
+#初始化
+ez = DQN(state_size, action_size)
+optimizer = optim.Adam(ez.parameters(), lr = lrs)
+criterion = nn.MSELoss()
+
+#训练
+for i in range(500):
+ state, _ = env.reset() # gym >=0.26 返回 (obs, info)
+ total_reward = 0.0
+ done = False
+
+ while not done:
+ # ε-greedy 选择动作
+ if random.random() < epsilon:
+ action = env.action_space.sample()
+ else:
+ action = ez(torch.tensor(state, dtype=torch.float32)).argmax().item()
+
+ # 与环境交互
+ next_state, reward, terminated, truncated, _ = env.step(action)
+ done = terminated or truncated
+ total_reward += reward
+
+ # 计算 Q(s, a)
+ q_values = ez(torch.tensor(state, dtype=torch.float32))
+ now_Q = q_values[action]
+
+ # 计算 target
+ next_q_value = ez(torch.tensor(next_state, dtype=torch.float32)).max().item()
+ target_Q = reward + gamma * next_q_value * (0 if done else 1)
+
+ # 计算损失
+ target_Q = torch.tensor(target_Q, dtype=torch.float32)
+ loss = criterion(now_Q, target_Q)
+
+ # 更新网络
+ optimizer.zero_grad()
+ loss.backward()
+ optimizer.step()
+
+ # 状态更新
+ state = next_state
+
+ print(f"Episode {i}, total_reward = {total_reward}")
+
+# 测试函数
+def test_agent(env, model, episodes=10):
+ total_rewards = []
+ for ep in range(episodes):
+ state, _ = env.reset()
+ done = False
+ total_reward = 0.0
+ while not done:
+ # 关闭梯度计算，加速
+ with torch.no_grad():
+ action = model(torch.tensor(state, dtype=torch.float32)).argmax().item()
+ next_state, reward, terminated, truncated, _ = env.step(action)
+ done = terminated or truncated
+ state = next_state
+ total_reward += reward
+ total_rewards.append(total_reward)
+ print(f"Test Episode {ep+1}: reward = {total_reward}")
+
+ avg_reward = sum(total_rewards) / episodes
+ print(f"Average reward over {episodes} episodes: {avg_reward}")
+
+# 调用测试
+test_agent(env, ez, episodes=10)
+
+#最佳数据：平均150
\ No newline at end of file
diff --git a/Pytorch/Project/CartPole/TestEnv.py b/Pytorch/Project/CartPole/TestEnv.py
new file mode 100644
index 0000000..f1a7a5e
--- /dev/null
+++ b/Pytorch/Project/CartPole/TestEnv.py
@@ -0,0 +1,22 @@
+import gymnasium as gym
+import time
+
+# 创建环境
+env = gym.make("CartPole-v1", render_mode="human") # human模式会用pyglet显示窗口
+
+# 重置环境
+observation, info = env.reset()
+print("初始观察值:", observation)
+print(":", info)
+
+# 随机动作走几步
+for step in range(100):
+ observation, reward, terminated, truncated, info = env.step(1)
+ print(f"Step {step+1}: observation={observation}, reward={reward}, done={terminated}")
+
+ if terminated or truncated:
+ observation, info = env.reset()
+
+time.sleep(1)
+# 关闭环境
+env.close()
diff --git a/Pytorch/Project/CartPole/TestPthModule.py b/Pytorch/Project/CartPole/TestPthModule.py
new file mode 100644
index 0000000..e69de29
diff --git a/Pytorch/Project/CartPole/cartpole_dqn_success.pth b/Pytorch/Project/CartPole/cartpole_dqn_success.pth
new file mode 100644
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