chore: import upstream snapshot with attribution
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<h1><a href="https://nn.labml.ai/rl/dqn/index.html">Deep Q Networks (DQN)</a></h1>
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<p>This is a <a href="https://pytorch.org">PyTorch</a> implementation of paper <a href="https://arxiv.org/abs/1312.5602">Playing Atari with Deep Reinforcement Learning</a> along with <a href="https://nn.labml.ai/rl/dqn/model.html">Dueling Network</a>, <a href="https://nn.labml.ai/rl/dqn/replay_buffer.html">Prioritized Replay</a> and Double Q Network.</p>
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<h1>Atari wrapper with multi-processing</h1>
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<div class="highlight"><pre><span class="lineno">9</span><span></span><span class="kn">import</span> <span class="nn">multiprocessing</span>
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<span class="lineno">10</span><span class="kn">import</span> <span class="nn">multiprocessing.connection</span>
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<span class="lineno">11</span>
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<span class="lineno">12</span><span class="kn">import</span> <span class="nn">cv2</span>
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<span class="lineno">13</span><span class="kn">import</span> <span class="nn">gym</span>
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<span class="lineno">14</span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span></pre></div>
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<p> <a id="GameEnvironment"></a></p>
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<h2>Game environment</h2>
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<p>This is a wrapper for OpenAI gym game environment. We do a few things here:</p>
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<p>1. Apply the same action on four frames and get the last frame 2. Convert observation frames to gray and scale it to (84, 84) 3. Stack four frames of the last four actions 4. Add episode information (total reward for the entire episode) for monitoring 5. Restrict an episode to a single life (game has 5 lives, we reset after every single life)</p>
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<h4>Observation format</h4>
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<p>Observation is tensor of size (4, 84, 84). It is four frames (images of the game screen) stacked on first axis. i.e, each channel is a frame.</p>
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<div class="highlight"><pre><span class="lineno">17</span><span class="k">class</span> <span class="nc">Game</span><span class="p">:</span></pre></div>
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<div class="highlight"><pre><span class="lineno">38</span> <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span></pre></div>
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<p>create environment </p>
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<div class="highlight"><pre><span class="lineno">40</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s1">'BreakoutNoFrameskip-v4'</span><span class="p">)</span>
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<span class="lineno">41</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span></pre></div>
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<p>tensor for a stack of 4 frames </p>
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<div class="highlight"><pre><span class="lineno">44</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="mi">4</span><span class="p">,</span> <span class="mi">84</span><span class="p">,</span> <span class="mi">84</span><span class="p">))</span></pre></div>
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<p>buffer to keep the maximum of last 2 frames </p>
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<div class="highlight"><pre><span class="lineno">47</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_2_max</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="mi">2</span><span class="p">,</span> <span class="mi">84</span><span class="p">,</span> <span class="mi">84</span><span class="p">))</span></pre></div>
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<p>keep track of the episode rewards </p>
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<div class="highlight"><pre><span class="lineno">50</span> <span class="bp">self</span><span class="o">.</span><span class="n">rewards</span> <span class="o">=</span> <span class="p">[]</span></pre></div>
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<p>and number of lives left </p>
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<div class="highlight"><pre><span class="lineno">52</span> <span class="bp">self</span><span class="o">.</span><span class="n">lives</span> <span class="o">=</span> <span class="mi">0</span></pre></div>
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<h3>Step</h3>
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<p>Executes <code class="highlight"><span></span><span class="n">action</span></code>
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for 4 time steps and returns a tuple of (observation, reward, done, episode_info).</p>
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<ul><li><code class="highlight"><span></span><span class="n">observation</span></code>
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: stacked 4 frames (this frame and frames for last 3 actions) </li>
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<li><code class="highlight"><span></span><span class="n">reward</span></code>
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: total reward while the action was executed </li>
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<li><code class="highlight"><span></span><span class="n">done</span></code>
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: whether the episode finished (a life lost) </li>
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<li><code class="highlight"><span></span><span class="n">episode_info</span></code>
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: episode information if completed</li></ul>
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<div class="highlight"><pre><span class="lineno">54</span> <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">action</span><span class="p">):</span></pre></div>
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<div class="highlight"><pre><span class="lineno">66</span> <span class="n">reward</span> <span class="o">=</span> <span class="mf">0.</span>
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<span class="lineno">67</span> <span class="n">done</span> <span class="o">=</span> <span class="kc">None</span></pre></div>
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<p>run for 4 steps </p>
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<div class="highlight"><pre><span class="lineno">70</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">4</span><span class="p">):</span></pre></div>
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<p>execute the action in the OpenAI Gym environment </p>
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|
||||
<div class="highlight"><pre><span class="lineno">72</span> <span class="n">obs</span><span class="p">,</span> <span class="n">r</span><span class="p">,</span> <span class="n">done</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
|
||||
<span class="lineno">73</span>
|
||||
<span class="lineno">74</span> <span class="k">if</span> <span class="n">i</span> <span class="o">>=</span> <span class="mi">2</span><span class="p">:</span>
|
||||
<span class="lineno">75</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_2_max</span><span class="p">[</span><span class="n">i</span> <span class="o">%</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_obs</span><span class="p">(</span><span class="n">obs</span><span class="p">)</span>
|
||||
<span class="lineno">76</span>
|
||||
<span class="lineno">77</span> <span class="n">reward</span> <span class="o">+=</span> <span class="n">r</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-12'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-12'>#</a>
|
||||
</div>
|
||||
<p>get number of lives left </p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">80</span> <span class="n">lives</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">ale</span><span class="o">.</span><span class="n">lives</span><span class="p">()</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-13'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-13'>#</a>
|
||||
</div>
|
||||
<p>reset if a life is lost </p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">82</span> <span class="k">if</span> <span class="n">lives</span> <span class="o"><</span> <span class="bp">self</span><span class="o">.</span><span class="n">lives</span><span class="p">:</span>
|
||||
<span class="lineno">83</span> <span class="n">done</span> <span class="o">=</span> <span class="kc">True</span>
|
||||
<span class="lineno">84</span> <span class="k">break</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-14'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-14'>#</a>
|
||||
</div>
|
||||
<p>maintain rewards for each step </p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">87</span> <span class="bp">self</span><span class="o">.</span><span class="n">rewards</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">reward</span><span class="p">)</span>
|
||||
<span class="lineno">88</span>
|
||||
<span class="lineno">89</span> <span class="k">if</span> <span class="n">done</span><span class="p">:</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-15'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-15'>#</a>
|
||||
</div>
|
||||
<p>if finished, set episode information if episode is over, and reset </p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">91</span> <span class="n">episode_info</span> <span class="o">=</span> <span class="p">{</span><span class="s2">"reward"</span><span class="p">:</span> <span class="nb">sum</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">rewards</span><span class="p">),</span> <span class="s2">"length"</span><span class="p">:</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">rewards</span><span class="p">)}</span>
|
||||
<span class="lineno">92</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
|
||||
<span class="lineno">93</span> <span class="k">else</span><span class="p">:</span>
|
||||
<span class="lineno">94</span> <span class="n">episode_info</span> <span class="o">=</span> <span class="kc">None</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-16'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-16'>#</a>
|
||||
</div>
|
||||
<p>get the max of last two frames </p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">97</span> <span class="n">obs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_2_max</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">axis</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-17'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-17'>#</a>
|
||||
</div>
|
||||
<p>push it to the stack of 4 frames </p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">100</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span><span class="p">,</span> <span class="n">shift</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span> <span class="n">axis</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
|
||||
<span class="lineno">101</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">obs</span>
|
||||
<span class="lineno">102</span>
|
||||
<span class="lineno">103</span> <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">done</span><span class="p">,</span> <span class="n">episode_info</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-18'>
|
||||
<div class='docs doc-strings'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-18'>#</a>
|
||||
</div>
|
||||
<h3>Reset environment</h3>
|
||||
<p>Clean up episode info and 4 frame stack</p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">105</span> <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-19'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-19'>#</a>
|
||||
</div>
|
||||
<p>reset OpenAI Gym environment </p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">112</span> <span class="n">obs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-20'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-20'>#</a>
|
||||
</div>
|
||||
<p>reset caches </p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">115</span> <span class="n">obs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_obs</span><span class="p">(</span><span class="n">obs</span><span class="p">)</span>
|
||||
<span class="lineno">116</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">4</span><span class="p">):</span>
|
||||
<span class="lineno">117</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">=</span> <span class="n">obs</span>
|
||||
<span class="lineno">118</span> <span class="bp">self</span><span class="o">.</span><span class="n">rewards</span> <span class="o">=</span> <span class="p">[]</span>
|
||||
<span class="lineno">119</span>
|
||||
<span class="lineno">120</span> <span class="bp">self</span><span class="o">.</span><span class="n">lives</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">ale</span><span class="o">.</span><span class="n">lives</span><span class="p">()</span>
|
||||
<span class="lineno">121</span>
|
||||
<span class="lineno">122</span> <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-21'>
|
||||
<div class='docs doc-strings'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-21'>#</a>
|
||||
</div>
|
||||
<h4>Process game frames</h4>
|
||||
<p>Convert game frames to gray and rescale to 84x84</p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">124</span> <span class="nd">@staticmethod</span>
|
||||
<span class="lineno">125</span> <span class="k">def</span> <span class="nf">_process_obs</span><span class="p">(</span><span class="n">obs</span><span class="p">):</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-22'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-22'>#</a>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">130</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">cv2</span><span class="o">.</span><span class="n">cvtColor</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="n">cv2</span><span class="o">.</span><span class="n">COLOR_RGB2GRAY</span><span class="p">)</span>
|
||||
<span class="lineno">131</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">cv2</span><span class="o">.</span><span class="n">resize</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="p">(</span><span class="mi">84</span><span class="p">,</span> <span class="mi">84</span><span class="p">),</span> <span class="n">interpolation</span><span class="o">=</span><span class="n">cv2</span><span class="o">.</span><span class="n">INTER_AREA</span><span class="p">)</span>
|
||||
<span class="lineno">132</span> <span class="k">return</span> <span class="n">obs</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-23'>
|
||||
<div class='docs doc-strings'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-23'>#</a>
|
||||
</div>
|
||||
<h2>Worker Process</h2>
|
||||
<p>Each worker process runs this method</p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">135</span><span class="k">def</span> <span class="nf">worker_process</span><span class="p">(</span><span class="n">remote</span><span class="p">:</span> <span class="n">multiprocessing</span><span class="o">.</span><span class="n">connection</span><span class="o">.</span><span class="n">Connection</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-24'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-24'>#</a>
|
||||
</div>
|
||||
<p>create game </p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">143</span> <span class="n">game</span> <span class="o">=</span> <span class="n">Game</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-25'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-25'>#</a>
|
||||
</div>
|
||||
<p>wait for instructions from the connection and execute them </p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">146</span> <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
|
||||
<span class="lineno">147</span> <span class="n">cmd</span><span class="p">,</span> <span class="n">data</span> <span class="o">=</span> <span class="n">remote</span><span class="o">.</span><span class="n">recv</span><span class="p">()</span>
|
||||
<span class="lineno">148</span> <span class="k">if</span> <span class="n">cmd</span> <span class="o">==</span> <span class="s2">"step"</span><span class="p">:</span>
|
||||
<span class="lineno">149</span> <span class="n">remote</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="n">game</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">data</span><span class="p">))</span>
|
||||
<span class="lineno">150</span> <span class="k">elif</span> <span class="n">cmd</span> <span class="o">==</span> <span class="s2">"reset"</span><span class="p">:</span>
|
||||
<span class="lineno">151</span> <span class="n">remote</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="n">game</span><span class="o">.</span><span class="n">reset</span><span class="p">())</span>
|
||||
<span class="lineno">152</span> <span class="k">elif</span> <span class="n">cmd</span> <span class="o">==</span> <span class="s2">"close"</span><span class="p">:</span>
|
||||
<span class="lineno">153</span> <span class="n">remote</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
|
||||
<span class="lineno">154</span> <span class="k">break</span>
|
||||
<span class="lineno">155</span> <span class="k">else</span><span class="p">:</span>
|
||||
<span class="lineno">156</span> <span class="k">raise</span> <span class="ne">NotImplementedError</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-26'>
|
||||
<div class='docs doc-strings'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-26'>#</a>
|
||||
</div>
|
||||
<p> Creates a new worker and runs it in a separate process.</p>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">159</span><span class="k">class</span> <span class="nc">Worker</span><span class="p">:</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='section' id='section-27'>
|
||||
<div class='docs'>
|
||||
<div class='section-link'>
|
||||
<a href='#section-27'>#</a>
|
||||
</div>
|
||||
|
||||
</div>
|
||||
<div class='code'>
|
||||
<div class="highlight"><pre><span class="lineno">164</span> <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">seed</span><span class="p">):</span>
|
||||
<span class="lineno">165</span> <span class="bp">self</span><span class="o">.</span><span class="n">child</span><span class="p">,</span> <span class="n">parent</span> <span class="o">=</span> <span class="n">multiprocessing</span><span class="o">.</span><span class="n">Pipe</span><span class="p">()</span>
|
||||
<span class="lineno">166</span> <span class="bp">self</span><span class="o">.</span><span class="n">process</span> <span class="o">=</span> <span class="n">multiprocessing</span><span class="o">.</span><span class="n">Process</span><span class="p">(</span><span class="n">target</span><span class="o">=</span><span class="n">worker_process</span><span class="p">,</span> <span class="n">args</span><span class="o">=</span><span class="p">(</span><span class="n">parent</span><span class="p">,</span> <span class="n">seed</span><span class="p">))</span>
|
||||
<span class="lineno">167</span> <span class="bp">self</span><span class="o">.</span><span class="n">process</span><span class="o">.</span><span class="n">start</span><span class="p">()</span></pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class='footer'>
|
||||
<a href="https://labml.ai">labml.ai</a>
|
||||
</div>
|
||||
</div>
|
||||
<script src=../interactive.js?v=1"></script>
|
||||
<script>
|
||||
function handleImages() {
|
||||
var images = document.querySelectorAll('p>img')
|
||||
|
||||
for (var i = 0; i < images.length; ++i) {
|
||||
handleImage(images[i])
|
||||
}
|
||||
}
|
||||
|
||||
function handleImage(img) {
|
||||
img.parentElement.style.textAlign = 'center'
|
||||
|
||||
var modal = document.createElement('div')
|
||||
modal.id = 'modal'
|
||||
|
||||
var modalContent = document.createElement('div')
|
||||
modal.appendChild(modalContent)
|
||||
|
||||
var modalImage = document.createElement('img')
|
||||
modalContent.appendChild(modalImage)
|
||||
|
||||
var span = document.createElement('span')
|
||||
span.classList.add('close')
|
||||
span.textContent = 'x'
|
||||
modal.appendChild(span)
|
||||
|
||||
img.onclick = function () {
|
||||
console.log('clicked')
|
||||
document.body.appendChild(modal)
|
||||
modalImage.src = img.src
|
||||
}
|
||||
|
||||
span.onclick = function () {
|
||||
document.body.removeChild(modal)
|
||||
}
|
||||
}
|
||||
|
||||
handleImages()
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,134 @@
|
||||
<!DOCTYPE html>
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<ul><li><a href="ppo">Proximal Policy Optimization</a> </li>
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<p>PPO is a policy gradient method for reinforcement learning. Simple policy gradient methods one do a single gradient update per sample (or a set of samples). Doing multiple gradient steps for a singe sample causes problems because the policy deviates too much producing a bad policy. PPO lets us do multiple gradient updates per sample by trying to keep the policy close to the policy that was used to sample data. It does so by clipping gradient flow if the updated policy is not close to the policy used to sample the data.</p>
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