diff --git a/05_api_doc/worker/collector/sample_serial_collector.html b/05_api_doc/worker/collector/sample_serial_collector.html index 78b0ff3a92..fc5a472ccc 100644 --- a/05_api_doc/worker/collector/sample_serial_collector.html +++ b/05_api_doc/worker/collector/sample_serial_collector.html @@ -349,7 +349,7 @@

SampleSerialCollector _output_log(train_iter: int) → None[source]
-
Overview:

Print the output log information. You can refer to Docs/Best Practice/How to understand training generated folders/Serial mode/log/collector for more details.

+
Overview:

Print the output log information. You can refer to the docs of Best Practice to understand the training generated logs and tensorboards.

Arguments:

  • train_iter (int): the number of training iteration.

    • diff --git a/12_policies/ddpg_zh.html b/12_policies/ddpg_zh.html index edba2bfbf8..f59cd5f1c3 100644 --- a/12_policies/ddpg_zh.html +++ b/12_policies/ddpg_zh.html @@ -35,7 +35,7 @@ - + @@ -1042,7 +1042,7 @@

    其他公开的实现 - diff --git a/12_policies/icm_zh.html b/12_policies/icm_zh.html index ef6acac211..5c57b85ddd 100644 --- a/12_policies/icm_zh.html +++ b/12_policies/icm_zh.html @@ -36,7 +36,7 @@ - + @@ -856,7 +856,7 @@

    参考资料 - diff --git a/12_policies/index_zh.html b/12_policies/index_zh.html index 6f2ceb190f..5564bbd626 100644 --- a/12_policies/index_zh.html +++ b/12_policies/index_zh.html @@ -418,6 +418,40 @@

    强化学习算法 +

    演员—评委

    +     + +

    探索

    • ICM
        diff --git a/12_policies/td3.html b/12_policies/td3.html index 6c8cc31fea..b91c2fdde0 100644 --- a/12_policies/td3.html +++ b/12_policies/td3.html @@ -714,7 +714,7 @@

        Implementations

      • Model -Here we provide examples of td3 model as default model for TD3.

        +Here we provide examples of QAC model as default model for TD3.

        diff --git a/12_policies/td3_zh.html b/12_policies/td3_zh.html new file mode 100644 index 0000000000..28f8b655f8 --- /dev/null +++ b/12_policies/td3_zh.html @@ -0,0 +1,1244 @@ + + + + + + + + + + + + + + + + TD3 — DI-engine 0.1.0 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
        + Table of Contents + +
        + + + +
        +
        +
        + + + + + + + + + + + + + + + + +
        + + + + +
        +
        + +
        + Shortcuts +
        +
        + +
        +
        + +
        + +
        +
        + +
        +

        TD3

        +
        +

        概述

        +

        Twin Delayed DDPG (TD3) 首次在2018年发表的论文 Addressing Function Approximation Error in Actor-Critic Methods 中被提出，它是一种考虑了策略和值更新中函数逼近误差之间相互作用的算法。 +TD3 是一种基于 deep deterministic policy gradient (DDPG) 的 无模型（model-free） 算法，属于 演员—评委（actor-critic） 类算法中的一员。此算法可以解决高估偏差，时间差分方法中的误差积累以及连续动作空间中对超参数的高敏感性的问题。具体来说，TD3通过引入以下三个关键技巧来解决这些问题:

        +
          +

        1. 截断双 Q 学习（Clipped Double-Q Learning）：在计算Bellman误差损失函数中的目标时，TD3 学习两个 Q 函数而不是一个，并使用较小的 Q 值。

          2. +

        2. 延迟的策略更新（Delayed Policy Updates）： TD3更新策略(和目标网络)的频率低于 Q 函数的更新频率。在本文中，作者建议在对 Q 函数更新两次后进行一次策略更新。在我们的实现中，TD3 仅在对 critic 网络更新一定次数 \(d\) 后，才对策略和目标网络进行一次更新。我们通过配置参数 learn.actor_update_freq 来实现策略更新延迟。

          3. +

        3. 目标策略平滑（Target Policy Smoothing）：通过沿动作变化平滑 Q 值，TD3 为目标动作引入噪声，使策略更加难以利用 Q 函数的预测错误。

          4. +
        +
        +
        +

        核心要点

        +
          +

        1. TD3 仅支持 连续动作空间 （例如： MuJoCo）.

          2. +

        2. TD3 是一种 异策略（off-policy） 算法.

          3. +

        3. TD3 是一种 无模型（model-free） 和 演员—评委（actor-critic） 的强化学习算法，它会分别优化策略网络和Q网络。

          4. +
        +
        +
        +

        关键方程或关键框图

        +

        TD3 提出了一个截断双 Q 学习变体（Clipped Double-Q Learning），它利用了这样一个概念，即遭受高估偏差的值估计可以用作真实值估计的近似上限。结合下式计算 \(Q_{\theta_1}\) 的 target，当 \(Q_{\theta_2} \textless Q_{\theta_1}\) 时，我们认为 \(Q_{\theta_1}\) 高估了，并将其当作真实值估计的近似上限，取较小的 \(Q_{\theta_2}\) 计算 \(y_1\) 以减少过估计。

        +

        作为原始版本双 Q 学习的一种拓展，此扩展的动机是，如果目标和当前网络过于相似，例如在actor-critic框架中使用缓慢变化的策略，原始版本的双 Q 学习有时是无效的。

        +

        TD3表明，目标网络是深度 Q 学习方法中的一种常见方法，通过减少误差积累来减少目标的方差是至关重要的。

        +

        首先，为了解决动作价值估计和策略提升的耦合问题，TD3建议延迟策略更新，直到动作价值估计值尽可能小。因此，TD3只在固定数量次数的 critic 网络更新后再更新策略和目标网络。 +我们通过配置参数 learn.actor_update_freq 来实现策略更新延迟。

        +

        其次，截断双 Q 学习（Clipped Double Q-learning）算法的目标更新如下:

        +
        +\[y_{1}=r+\gamma \min _{i=1,2} Q_{\theta_{i}^{\prime}}\left(s^{\prime}, \pi_{\phi_{1}}\left(s^{\prime}\right)\right)\]
        +

        在实现中，我们可以通过使用单一的 actor 来优化 \(Q_{\theta_1}\) 以减少计算开销。由于 TD target 计算过程中使用了同样的策略，因此对于 \(Q_{\theta_2}\) 的优化目标， \(y_2= y_1\) 。

        +

        最后，确定性策略的一个问题是，由于以神经网络参数化的 Q 函数对 buffer 中动作的价值估计存在突然激增的尖峰（narrow peaks），这会导致策略网络过拟合到这些动作上。并且当更新 critic 网络时，使用确定性策略的学习目标极易受到函数近似误差引起的不准确性的影响，从而增加了目标的方差。 +TD3 引入了一种用于深度价值学习的正则化策略，即目标策略平滑，它模仿了SARSA的学习更新。具体来说，TD3通过在目标策略中添加少量随机噪声并在多次计算以下数值后，取平均值来近似此期望：

        +
        +\[\begin{split}\begin{array}{l} +y=r+\gamma Q_{\theta^{\prime}}\left(s^{\prime}, \pi_{\phi^{\prime}}\left(s^{\prime}\right)+\epsilon\right) \\ +\epsilon \sim \operatorname{clip}(\mathcal{N}(0, \sigma),-c, c) +\end{array}\end{split}\]
        +

        我们通过配置 learn.noise、 learn.noise_sigma 和 learn.noise_range 来实现目标策略平滑。

        +
        +
        +

        伪代码

        +
        +\[ \begin{align}\begin{aligned}:nowrap:\\\begin{split}\begin{algorithm}[H] + \caption{Twin Delayed DDPG} + \label{alg1} +\begin{algorithmic}[1] + \STATE Input: initial policy parameters $\theta$, Q-function parameters $\phi_1$, $\phi_2$, empty replay buffer $\mathcal{D}$ + \STATE Set target parameters equal to main parameters $\theta_{\text{targ}} \leftarrow \theta$, $\phi_{\text{targ},1} \leftarrow \phi_1$, $\phi_{\text{targ},2} \leftarrow \phi_2$ + \REPEAT + \STATE Observe state $s$ and select action $a = \text{clip}(\mu_{\theta}(s) + \epsilon, a_{Low}, a_{High})$, where $\epsilon \sim \mathcal{N}$ + \STATE Execute $a$ in the environment + \STATE Observe next state $s'$, reward $r$, and done signal $d$ to indicate whether $s'$ is terminal + \STATE Store $(s,a,r,s',d)$ in replay buffer $\mathcal{D}$ + \STATE If $s'$ is terminal, reset environment state. + \IF{it's time to update} + \FOR{$j$ in range(however many updates)} + \STATE Randomly sample a batch of transitions, $B = \{ (s,a,r,s',d) \}$ from $\mathcal{D}$ + \STATE Compute target actions + \begin{equation*} + a'(s') = \text{clip}\left(\mu_{\theta_{\text{targ}}}(s') + \text{clip}(\epsilon,-c,c), a_{Low}, a_{High}\right), \;\;\;\;\; \epsilon \sim \mathcal{N}(0, \sigma) + \end{equation*} + \STATE Compute targets + \begin{equation*} + y(r,s',d) = r + \gamma (1-d) \min_{i=1,2} Q_{\phi_{\text{targ},i}}(s', a'(s')) + \end{equation*} + \STATE Update Q-functions by one step of gradient descent using + \begin{align*} + & \nabla_{\phi_i} \frac{1}{|B|}\sum_{(s,a,r,s',d) \in B} \left( Q_{\phi_i}(s,a) - y(r,s',d) \right)^2 && \text{for } i=1,2 + \end{align*} + \IF{ $j \mod$ \texttt{policy\_delay} $ = 0$} + \STATE Update policy by one step of gradient ascent using + \begin{equation*} + \nabla_{\theta} \frac{1}{|B|}\sum_{s \in B}Q_{\phi_1}(s, \mu_{\theta}(s)) + \end{equation*} + \STATE Update target networks with + \begin{align*} + \phi_{\text{targ},i} &\leftarrow \rho \phi_{\text{targ}, i} + (1-\rho) \phi_i && \text{for } i=1,2\\ + \theta_{\text{targ}} &\leftarrow \rho \theta_{\text{targ}} + (1-\rho) \theta + \end{align*} + \ENDIF + \ENDFOR + \ENDIF + \UNTIL{convergence} +\end{algorithmic} +\end{algorithm}\end{split}\end{aligned}\end{align} \]
        +../_images/TD3.png +
        +
        +

        扩展

        +

        TD3 可以与以下技术相结合使用:

        +
        +
          +

        • 遵循随机策略的经验回放池初始采集

          +
          +

          在优化模型参数前，我们需要让经验回放池存有足够数目的遵循随机策略的 transition 数据，从而确保在算法初期模型不会对经验回放池数据过拟合。 +DDPG/TD3 的 random-collect-size 默认设置为25000, SAC 为10000。 +我们只是简单地遵循 SpinningUp 默认设置，并使用随机策略来收集初始化数据。 +我们通过配置 random-collect-size 来控制初始经验回放池中的 transition 数目。

          +
          +
          • +
        +
        +
        +
        +

        实现

        +

        默认配置定义如下:

        +
        +
        +class ding.policy.td3.TD3Policy(cfg: dict, model: Optional[Union[type, torch.nn.modules.module.Module]] = None, enable_field: Optional[List[str]] = None)[source]
        +
        +
        Overview:

        Policy class of TD3 algorithm.

        +

        Since DDPG and TD3 share many common things, we can easily derive this TD3 +class from DDPG class by changing _actor_update_freq, _twin_critic and noise in model wrapper.

        +

        https://arxiv.org/pdf/1802.09477.pdf

        +
        +
        Property:

        learn_mode, collect_mode, eval_mode

        +
        +
        +

        Config:

        + ++++++++ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        ID

        Symbol

        Type

        Default Value

        Description

        Other(Shape)

        1

        +
        type
        +

        +
        +

        str

        td3

        +
        RL policy register name, refer
        +
        to registry POLICY_REGISTRY
        +
        +
        +
        this arg is optional,
        +
        a placeholder
        +
        +

        2

        +
        cuda
        +
        +

        bool

        False

        +
        Whether to use cuda for network
        +
        +
        +

        +
        +

        3

        +
        random_
        +
        collect_size
        +

        +
        +

        int

        25000

        +
        Number of randomly collected
        +
        training samples in replay
        +
        buffer when training starts.
        +
        +
        +
        Default to 25000 for
        +
        DDPG/TD3, 10000 for
        +
        sac.
        +
        +

        4

        +
        model.twin_
        +
        critic
        +

        +

        +
        +

        bool

        True

        +
        Whether to use two critic
        +
        networks or only one.
        +

        +

        +
        +
        +
        Default True for TD3,
        +
        Clipped Double
        +
        Q-learning method in
        +
        TD3 paper.
        +
        +

        5

        +
        learn.learning
        +
        _rate_actor
        +
        +

        float

        1e-3

        +
        Learning rate for actor
        +
        network(aka. policy).
        +
        +
        +

        +

        +
        +

        6

        +
        learn.learning
        +
        _rate_critic
        +
        +

        float

        1e-3

        +
        Learning rates for critic
        +
        network (aka. Q-network).
        +
        +
        +

        +

        +
        +

        7

        +
        learn.actor_
        +
        update_freq
        +

        +

        +
        +

        int

        2

        +
        When critic network updates
        +
        once, how many times will actor
        +
        network update.
        +

        +
        +
        +
        Default 2 for TD3, 1
        +
        for DDPG. Delayed
        +
        Policy Updates method
        +
        in TD3 paper.
        +
        +

        8

        +
        learn.noise
        +

        +

        +

        +

        +
        +

        bool

        True

        +
        Whether to add noise on target
        +
        network’s action.
        +

        +

        +

        +
        +
        +
        Default True for TD3,
        +
        False for DDPG.
        +
        Target Policy Smoo-
        +
        thing Regularization
        +
        in TD3 paper.
        +
        +

        9

        +
        learn.noise_
        +
        range
        +

        +
        +

        dict

        +
        dict(min=-0.5,
        +
        +
        max=0.5,)
        +

        +
        +
        +
        +
        Limit for range of target
        +
        policy smoothing noise,
        +
        aka. noise_clip.
        +
        +
        +

        +

        +

        +
        +

        10

        +
        learn.-
        +
        ignore_done
        +
        +

        bool

        False

        +
        Determine whether to ignore
        +
        done flag.
        +
        +
        +
        Use ignore_done only
        +
        in halfcheetah env.
        +
        +

        11

        +
        learn.-
        +
        target_theta
        +

        +

        +
        +

        float

        0.005

        +
        Used for soft update of the
        +
        target network.
        +

        +

        +
        +
        +
        aka. Interpolation
        +
        factor in polyak aver
        +
        -aging for target
        +
        networks.
        +
        +

        12

        +
        collect.-
        +
        noise_sigma
        +

        +

        +

        +
        +

        float

        0.1

        +
        Used for add noise during co-
        +
        llection, through controlling
        +
        the sigma of distribution
        +

        +

        +
        +
        +
        Sample noise from dis
        +
        -tribution, Ornstein-
        +
        Uhlenbeck process in
        +
        DDPG paper, Gaussian
        +
        process in ours.
        +
        +
        +
        + +
          +

        1. 模型

          +

          在这里，我们提供了 QAC 模型作为 TD3 的默认模型的示例。

          +
          +
          +
          +class ding.model.template.qac.QAC(obs_shape: Union[int, ding.utils.type_helper.SequenceType], action_shape: Union[int, ding.utils.type_helper.SequenceType, easydict.EasyDict], action_space: str, twin_critic: bool = False, actor_head_hidden_size: int = 64, actor_head_layer_num: int = 1, critic_head_hidden_size: int = 64, critic_head_layer_num: int = 1, activation: Optional[torch.nn.modules.module.Module] = ReLU(), norm_type: Optional[str] = None, encoder_hidden_size_list: Optional[ding.utils.type_helper.SequenceType] = [32, 64, 256], share_encoder: Optional[bool] = False)[source]
          +
          +
          Overview:

          The QAC network, which is used in DDPG/TD3/SAC.

          +
          +
          Interfaces:

          __init__, forward, compute_actor, compute_critic

          +
          +
          +
          +
          +compute_actor(obs: torch.Tensor) → Dict[str, Union[torch.Tensor, Dict[str, torch.Tensor]]][source]
          +
          +
          Overview:

          The forward computation graph of compute_actor mode, uses observation tensor to produce actor output, +such as action, logit and so on.

          +
          +
          Arguments:
            +

          • obs (torch.Tensor): Observation tensor data, now supports a batch of 1-dim vector data, i.e. (B, obs_shape).

            • +
          +
          +
          Returns:
            +

          • outputs (Dict[str, Union[torch.Tensor, Dict[str, torch.Tensor]]]): Actor output varying from action_space: regression, reparameterization, hybrid.

            • +
          +
          +
          ReturnsKeys (either):
            +
          • +
            regression action_space
              +

            • action (torch.Tensor): Continuous action with same size as action_shape, usually in DDPG.

              • +
            +
            +
            +
            • +
          • +
            reparameterization action_space
              +

            • logit (Dict[str, torch.Tensor]): Reparameterization logit, usually in SAC.

              +
              +
                +

              • mu (torch.Tensor): Mean of parameterization gaussion distribution.

                • +

              • sigma (torch.Tensor): Standard variation of parameterization gaussion distribution.

                • +
              +
              +
              • +
            +
            +
            +
            • +
          • +
            hybrid action_space
              +

            • logit (torch.Tensor): Discrete action type logit.

              • +

            • action_args (torch.Tensor): Continuous action arguments.

              • +
            +
            +
            +
            • +
          +
          +
          Shapes:
            +

          • obs (torch.Tensor): \((B, N0)\), B is batch size and N0 corresponds to obs_shape.

            • +

          • action (torch.Tensor): \((B, N1)\), B is batch size and N1 corresponds to action_shape.

            • +

          • logit.mu (torch.Tensor): \((B, N1)\), B is batch size and N1 corresponds to action_shape.

            • +

          • logit.sigma (torch.Tensor): \((B, N1)\), B is batch size.

            • +

          • logit (torch.Tensor): \((B, N2)\), B is batch size and N2 corresponds to action_shape.action_type_shape.

            • +

          • action_args (torch.Tensor): \((B, N3)\), B is batch size and N3 corresponds to action_shape.action_args_shape.

            • +
          +
          +
          Examples:
          >>> # Regression mode
+>>> model = QAC(64, 64, 'regression')
+>>> obs = torch.randn(4, 64)
+>>> actor_outputs = model(obs,'compute_actor')
+>>> assert actor_outputs['action'].shape == torch.Size([4, 64])
+>>> # Reparameterization Mode
+>>> model = QAC(64, 64, 'reparameterization')
+>>> obs = torch.randn(4, 64)
+>>> actor_outputs = model(obs,'compute_actor')
+>>> assert actor_outputs['logit'][0].shape == torch.Size([4, 64])  # mu
+>>> actor_outputs['logit'][1].shape == torch.Size([4, 64]) # sigma
+
          +
          +
          +
          +
          + +
          +
          +compute_critic(inputs: Dict[str, torch.Tensor]) → Dict[str, torch.Tensor][source]
          +
          +
          Overview:

          The forward computation graph of compute_critic mode, uses observation and action tensor to produce critic +output, such as q_value.

          +
          +
          Arguments:
            +

          • inputs (Dict[str, torch.Tensor]): Dict strcture of input data, including obs and action tensor, also contains logit tensor in hybrid action_space.

            • +
          +
          +
          Returns:
            +

          • outputs (Dict[str, torch.Tensor]): Critic output, such as q_value.

            • +
          +
          +
          ArgumentsKeys:
            +

          • obs: (torch.Tensor): Observation tensor data, now supports a batch of 1-dim vector data.

            • +

          • action (Union[torch.Tensor, Dict]): Continuous action with same size as action_shape.

            • +

          • logit (torch.Tensor): Discrete action logit, only in hybrid action_space.

            • +

          • action_args (torch.Tensor): Continuous action arguments, only in hybrid action_space.

            • +
          +
          +
          ReturnKeys:
            +

          • q_value (torch.Tensor): Q value tensor with same size as batch size.

            • +
          +
          +
          Shapes:
            +

          • obs (torch.Tensor): \((B, N1)\), where B is batch size and N1 is obs_shape.

            • +

          • logit (torch.Tensor): \((B, N2)\), B is batch size and N2 corresponds to action_shape.action_type_shape.

            • +

          • action_args (torch.Tensor): \((B, N3)\), B is batch size and N3 corresponds to action_shape.action_args_shape.

            • +

          • action (torch.Tensor): \((B, N4)\), where B is batch size and N4 is action_shape.

            • +

          • q_value (torch.Tensor): \((B, )\), where B is batch size.

            • +
          +
          +
          Examples:
          >>> inputs = {'obs': torch.randn(4, 8), 'action': torch.randn(4, 1)}
+>>> model = QAC(obs_shape=(8, ),action_shape=1, action_space='regression')
+>>> model(inputs, mode='compute_critic')['q_value']  # q value
+... tensor([0.0773, 0.1639, 0.0917, 0.0370], grad_fn=<SqueezeBackward1>)
+
          +
          +
          +
          +
          + +
          +
          +forward(inputs: Union[torch.Tensor, Dict[str, torch.Tensor]], mode: str) → Dict[str, torch.Tensor][source]
          +
          +
          Overview:

          The unique execution (forward) method of QAC method, and one can indicate different modes to implement different computation graph, including compute_actor and compute_critic in QAC.

          +
          +
          Mode compute_actor:
          +
          Arguments:
            +

          • inputs (torch.Tensor): Observation data, defaults to tensor.

            • +
          +
          +
          Returns:
            +

          • output (Dict): Output dict data, including differnet key-values among distinct action_space.

            • +
          +
          +
          +
          +
          Mode compute_critic:
          +
          Arguments:
            +

          • inputs (Dict): Input dict data, including obs and action tensor.

            • +
          +
          +
          Returns:
            +

          • output (Dict): Output dict data, including q_value tensor.

            • +
          +
          +
          +
          +
          +
          +

          Note

          +

          For specific examples, one can refer to API doc of compute_actor and compute_critic respectively.

          +
          +
          + +
          + +
          +
          2. +

        2. 训练 actor-critic 模型

          +
          +

          首先，我们在 _init_learn 中分别初始化 actor 和 critic 优化器。 +设置两个独立的优化器可以保证我们在计算 actor 损失时只更新 actor 网络参数而不更新 critic 网络，反之亦然。

          +
          +
          # actor and critic optimizer
+self._optimizer_actor = Adam(
+    self._model.actor.parameters(),
+    lr=self._cfg.learn.learning_rate_actor,
+    weight_decay=self._cfg.learn.weight_decay
+)
+self._optimizer_critic = Adam(
+    self._model.critic.parameters(),
+    lr=self._cfg.learn.learning_rate_critic,
+    weight_decay=self._cfg.learn.weight_decay
+)
+
          +
          +
          +
          +
          在 _forward_learn 中，我们通过计算 critic 损失、更新 critic 网络、计算 actor 损失和更新 actor 网络来更新 actor-critic 策略。
            +

          1. critic loss computation

            +
            +
              +

            • 计算当前值和目标值

              • +
            +
            # current q value
+q_value = self._learn_model.forward(data, mode='compute_critic')['q_value']
+q_value_dict = {}
+if self._twin_critic:
+    q_value_dict['q_value'] = q_value[0].mean()
+    q_value_dict['q_value_twin'] = q_value[1].mean()
+else:
+    q_value_dict['q_value'] = q_value.mean()
+# target q value. SARSA: first predict next action, then calculate next q value
+with torch.no_grad():
+    next_action = self._target_model.forward(next_obs, mode='compute_actor')['action']
+    next_data = {'obs': next_obs, 'action': next_action}
+    target_q_value = self._target_model.forward(next_data, mode='compute_critic')['q_value']
+
            +
            +
              +

            • Q 网络目标（Clipped Double-Q Learning）和损失计算

              • +
            +
            if self._twin_critic:
+    # TD3: two critic networks
+    target_q_value = torch.min(target_q_value[0], target_q_value[1])  # find min one as target q value
+    # network1
+    td_data = v_1step_td_data(q_value[0], target_q_value, reward, data['done'], data['weight'])
+    critic_loss, td_error_per_sample1 = v_1step_td_error(td_data, self._gamma)
+    loss_dict['critic_loss'] = critic_loss
+    # network2(twin network)
+    td_data_twin = v_1step_td_data(q_value[1], target_q_value, reward, data['done'], data['weight'])
+    critic_twin_loss, td_error_per_sample2 = v_1step_td_error(td_data_twin, self._gamma)
+    loss_dict['critic_twin_loss'] = critic_twin_loss
+    td_error_per_sample = (td_error_per_sample1 + td_error_per_sample2) / 2
+else:
+    # DDPG: single critic network
+    td_data = v_1step_td_data(q_value, target_q_value, reward, data['done'], data['weight'])
+    critic_loss, td_error_per_sample = v_1step_td_error(td_data, self._gamma)
+    loss_dict['critic_loss'] = critic_loss
+
            +
            +
            +
            2. +

          2. critic network update

            +
            +
            self._optimizer_critic.zero_grad()
+for k in loss_dict:
+    if 'critic' in k:
+        loss_dict[k].backward()
+self._optimizer_critic.step()
+
            +
            +
            +
            3. +

          3. actor loss computation 和 actor network update 取决于策略更新延迟（delaying the policy updates）的程度。

            +
            +
            if (self._forward_learn_cnt + 1) % self._actor_update_freq == 0:
+    actor_data = self._learn_model.forward(data['obs'], mode='compute_actor')
+    actor_data['obs'] = data['obs']
+    if self._twin_critic:
+        actor_loss = -self._learn_model.forward(actor_data, mode='compute_critic')['q_value'][0].mean()
+    else:
+        actor_loss = -self._learn_model.forward(actor_data, mode='compute_critic')['q_value'].mean()
+
+    loss_dict['actor_loss'] = actor_loss
+    # actor update
+    self._optimizer_actor.zero_grad()
+    actor_loss.backward()
+    self._optimizer_actor.step()
+
            +
            +
            +
            4. +
          +
          +
          +
          +
          3. +

        3. 目标网络（Target Network）

          +
          +

          我们通过 _init_learn 中的 self._target_model 初始化来实现目标网络。 +我们配置 learn.target_theta 来控制平均中的插值因子。

          +
          # main and target models
+self._target_model = copy.deepcopy(self._model)
+self._target_model = model_wrap(
+    self._target_model,
+    wrapper_name='target',
+    update_type='momentum',
+    update_kwargs={'theta': self._cfg.learn.target_theta}
+)
+
          +
          +
          +
          4. +

        4. 目标策略平滑正则（Target Policy Smoothing Regularization）

          +
          +

          我们通过 _init_learn 中的目标模型初始化来实现目标策略平滑正则。 +我们通过配置 learn.noise、 learn.noise_sigma 和 learn.noise_range 来控制引入的噪声，通过对噪声进行截断使所选动作不会太过偏离原始动作。

          +
          if self._cfg.learn.noise:
+    self._target_model = model_wrap(
+        self._target_model,
+        wrapper_name='action_noise',
+        noise_type='gauss',
+        noise_kwargs={
+            'mu': 0.0,
+            'sigma': self._cfg.learn.noise_sigma
+        },
+        noise_range=self._cfg.learn.noise_range
+    )
+
          +
          +
          +
          5. +
        +
        +
        +

        基准

        + +++++++ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

        environment

        best mean reward

        evaluation results

        config link

        comparison

        HalfCheetah

        +

        (HalfCheetah-v3)

        +

        11148

        		../_images/halfcheetah_td3.png +

        config_link_p

        Tianshou(10201) +Spinning-up(9750) +Sb3(9656)

        Hopper

        +

        (Hopper-v2)

        +

        3720

        		../_images/hopper_td3.png +

        config_link_q

        Tianshou(3472) +Spinning-up(3982) +sb3(3606 for +Hopper-v3)

        Walker2d

        +

        (Walker2d-v2)

        +

        4386

        		../_images/walker2d_td3.png +

        config_link_s

        Tianshou(3982) +Spinning-up(3472) +sb3(4718 for +Walker2d-v2)

        +

        P.S.：

        +
          +

        1. 上述结果是通过在五个不同的随机种子(0,1,2,3,4)上运行相同的配置获得的。

          2. +
        +
        +
        +

        参考文献

        +

        Scott Fujimoto, Herke van Hoof, David Meger: “Addressing Function Approximation Error in Actor-Critic Methods”, 2018; [http://arxiv.org/abs/1802.09477 arXiv:1802.09477].

        +
        +
        +

        其他公开的实现

        + +
        +
        + + +
        + +
        + +
        +
        + +
        + +
        +
        +
        + + + + + + + + + + + + + + + + + + + + + + + + + + +
        +
        + + + + + +
        +
        +
        +
        + + +
        +
        +
        + +
        +
        +
        +
        +
        + + + + + + + + + \ No newline at end of file diff --git a/_modules/ding/config/config.html b/_modules/ding/config/config.html index fdf2f0f00f..c5e8235b44 100644 --- a/_modules/ding/config/config.html +++ b/_modules/ding/config/config.html @@ -307,7 +307,7 @@

        Source code for ding.config.config

         from easydict import EasyDict
 from copy import deepcopy
 
-from ding.utils import deep_merge_dicts
+from ding.utils import deep_merge_dicts, get_rank
 from ding.envs import get_env_cls, get_env_manager_cls, BaseEnvManager
 from ding.policy import get_policy_cls
 from ding.worker import BaseLearner, InteractionSerialEvaluator, BaseSerialCommander, Coordinator, \
@@ -753,7 +753,7 @@ 
        Source code for ding.config.config
                 cfg.policy.eval.evaluator.n_episode = cfg.env.n_evaluator_episode
     if 'exp_name' not in cfg:
         cfg.exp_name = 'default_experiment'
-    if save_cfg:
+    if save_cfg and get_rank() == 0:
         if os.path.exists(cfg.exp_name) and renew_dir:
             cfg.exp_name += datetime.datetime.now().strftime("_%y%m%d_%H%M%S")
         try:
diff --git a/_modules/ding/model/template/qac.html b/_modules/ding/model/template/qac.html
index faefa29ace..9cab43f769 100644
--- a/_modules/ding/model/template/qac.html
+++ b/_modules/ding/model/template/qac.html
@@ -303,7 +303,7 @@ 
        Source code for ding.model.template.qac
             FCEncoder, ConvEncoder
 
 
-
        [docs]@MODEL_REGISTRY.register('qac')
+
        [docs]@MODEL_REGISTRY.register('qac')
 class QAC(nn.Module):
     r"""
     Overview:
@@ -475,7 +475,7 @@ 
        Source code for ding.model.template.qac
                         )
             )
        
 
-
        [docs]    def forward(self, inputs: Union[torch.Tensor, Dict[str, torch.Tensor]], mode: str) -> Dict[str, torch.Tensor]:
+
        [docs]    def forward(self, inputs: Union[torch.Tensor, Dict[str, torch.Tensor]], mode: str) -> Dict[str, torch.Tensor]:
         """
         Overview:
             The unique execution (forward) method of QAC method, and one can indicate different modes to implement \
@@ -497,7 +497,7 @@ 
        Source code for ding.model.template.qac
                 assert mode in self.mode, "not support forward mode: {}/{}".format(mode, self.mode)
         return getattr(self, mode)(inputs)
        
 
-
        [docs]    def compute_actor(self, obs: torch.Tensor) -> Dict[str, Union[torch.Tensor, Dict[str, torch.Tensor]]]:
+
        [docs]    def compute_actor(self, obs: torch.Tensor) -> Dict[str, Union[torch.Tensor, Dict[str, torch.Tensor]]]:
         """
         Overview:
             The forward computation graph of compute_actor mode, uses observation tensor to produce actor output,
@@ -558,7 +558,7 @@ 
        Source code for ding.model.template.qac
                     action_args = self.actor[1](obs)
             return {'logit': logit['logit'], 'action_args': action_args['pred']}
        
 
-
        [docs]    def compute_critic(self, inputs: Dict[str, torch.Tensor]) -> Dict[str, torch.Tensor]:
+
        [docs]    def compute_critic(self, inputs: Dict[str, torch.Tensor]) -> Dict[str, torch.Tensor]:
         """
         Overview:
             The forward computation graph of compute_critic mode, uses observation and action tensor to produce critic
diff --git a/_modules/ding/policy/td3.html b/_modules/ding/policy/td3.html
index e13ae1f16e..28b11b3ef7 100644
--- a/_modules/ding/policy/td3.html
+++ b/_modules/ding/policy/td3.html
@@ -297,7 +297,7 @@ 
        Source code for ding.policy.td3
         from .ddpg import DDPGPolicy
 
 
-
        [docs]@POLICY_REGISTRY.register('td3')
+
        [docs]@POLICY_REGISTRY.register('td3')
 class TD3Policy(DDPGPolicy):
     r"""
     Overview:
diff --git a/_modules/ding/torch_utils/data_helper.html b/_modules/ding/torch_utils/data_helper.html
index 1e9e2d3adf..dca3e00eea 100644
--- a/_modules/ding/torch_utils/data_helper.html
+++ b/_modules/ding/torch_utils/data_helper.html
@@ -603,7 +603,7 @@ 
        Source code for ding.torch_utils.data_helper
        if ignore_error:
                 try:
                     new_data[k] = to_item(v)
-                except ValueError:
+                except (ValueError, RuntimeError):
                     pass
             else:
                 new_data[k] = to_item(v)
diff --git a/_modules/ding/worker/collector/sample_serial_collector.html b/_modules/ding/worker/collector/sample_serial_collector.html
index 9a56b4c00e..e764020139 100644
--- a/_modules/ding/worker/collector/sample_serial_collector.html
+++ b/_modules/ding/worker/collector/sample_serial_collector.html
@@ -300,7 +300,8 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        import torch
 
 from ding.envs import BaseEnvManager
-from ding.utils import build_logger, EasyTimer, SERIAL_COLLECTOR_REGISTRY, one_time_warning
+from ding.utils import build_logger, EasyTimer, SERIAL_COLLECTOR_REGISTRY, one_time_warning, get_rank, get_world_size, \
+    broadcast_object_list, allreduce_data
 from ding.torch_utils import to_tensor, to_ndarray
 from .base_serial_collector import ISerialCollector, CachePool, TrajBuffer, INF, to_tensor_transitions
 
@@ -346,16 +347,27 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        self._cfg = cfg
         self._timer = EasyTimer()
         self._end_flag = False
-
-        if tb_logger is not None:
+        self._rank = get_rank()
+        self._world_size = get_world_size()
+
+        if self._rank == 0:
+            if tb_logger is not None:
+                self._logger, _ = build_logger(
+                    path='./{}/log/{}'.format(self._exp_name, self._instance_name),
+                    name=self._instance_name,
+                    need_tb=False
+                )
+                self._tb_logger = tb_logger
+            else:
+                self._logger, self._tb_logger = build_logger(
+                    path='./{}/log/{}'.format(self._exp_name, self._instance_name), name=self._instance_name
+                )
+        else:
             self._logger, _ = build_logger(
                 path='./{}/log/{}'.format(self._exp_name, self._instance_name), name=self._instance_name, need_tb=False
             )
-            self._tb_logger = tb_logger
-        else:
-            self._logger, self._tb_logger = build_logger(
-                path='./{}/log/{}'.format(self._exp_name, self._instance_name), name=self._instance_name
-            )
+            self._tb_logger = None
+
         self.reset(policy, env)
        
 
 
        [docs]    def reset_env(self, _env: Optional[BaseEnvManager] = None) -> None:
@@ -478,8 +490,9 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        return
         self._end_flag = True
         self._env.close()
-        self._tb_logger.flush()
-        self._tb_logger.close()
        
+        if self._tb_logger:
+            self._tb_logger.flush()
+            self._tb_logger.close()
        
 
 
        [docs]    def __del__(self) -> None:
         """
@@ -525,6 +538,8 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        if policy_kwargs is None:
             policy_kwargs = {}
         collected_sample = 0
+        collected_step = 0
+        collected_episode = 0
         return_data = []
 
         while collected_sample < n_sample:
@@ -570,7 +585,7 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        transition['collect_iter'] = train_iter
                     self._traj_buffer[env_id].append(transition)
                     self._env_info[env_id]['step'] += 1
-                    self._total_envstep_count += 1
+                    collected_step += 1
                     # prepare data
                     if timestep.done or len(self._traj_buffer[env_id]) == self._traj_len:
                         # If policy is r2d2:
@@ -588,7 +603,6 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        transitions = to_tensor_transitions(self._traj_buffer[env_id], not self._deepcopy_obs)
                         train_sample = self._policy.get_train_sample(transitions)
                         return_data.extend(train_sample)
-                        self._total_train_sample_count += len(train_sample)
                         self._env_info[env_id]['train_sample'] += len(train_sample)
                         collected_sample += len(train_sample)
                         self._traj_buffer[env_id].clear()
@@ -597,7 +611,7 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        # If env is done, record episode info and reset
                 if timestep.done:
-                    self._total_episode_count += 1
+                    collected_episode += 1
                     reward = timestep.info['eval_episode_return']
                     info = {
                         'reward': reward,
@@ -609,6 +623,17 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        # Env reset is done by env_manager automatically
                     self._policy.reset([env_id])
                     self._reset_stat(env_id)
+        collected_duration = sum([d['time'] for d in self._episode_info])
+        # reduce data when enables DDP
+        if self._world_size > 1:
+            collected_sample = allreduce_data(collected_sample, 'sum')
+            collected_step = allreduce_data(collected_step, 'sum')
+            collected_episode = allreduce_data(collected_episode, 'sum')
+            collected_duration = allreduce_data(collected_duration, 'sum')
+        self._total_envstep_count += collected_step
+        self._total_episode_count += collected_episode
+        self._total_duration += collected_duration
+        self._total_train_sample_count += collected_sample
         # log
         if record_random_collect:  # default is true, but when random collect, record_random_collect is False
             self._output_log(train_iter)
@@ -627,11 +652,13 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        [docs]    def _output_log(self, train_iter: int) -> None:
         """
         Overview:
-            Print the output log information. You can refer to Docs/Best Practice/How to understand\
-             training generated folders/Serial mode/log/collector for more details.
+            Print the output log information. You can refer to the docs of `Best Practice` to understand \
+            the training generated logs and tensorboards.
         Arguments:
             - train_iter (:obj:`int`): the number of training iteration.
         """
+        if self._rank != 0:
+            return
         if (train_iter - self._last_train_iter) >= self._collect_print_freq and len(self._episode_info) > 0:
             self._last_train_iter = train_iter
             episode_count = len(self._episode_info)
@@ -639,7 +666,6 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        train_sample_count = sum([d['train_sample'] for d in self._episode_info])
             duration = sum([d['time'] for d in self._episode_info])
             episode_return = [d['reward'] for d in self._episode_info]
-            self._total_duration += duration
             info = {
                 'episode_count': episode_count,
                 'envstep_count': envstep_count,
@@ -649,7 +675,6 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        'avg_envstep_per_sec': envstep_count / duration,
                 'avg_train_sample_per_sec': train_sample_count / duration,
                 'avg_episode_per_sec': episode_count / duration,
-                'collect_time': duration,
                 'reward_mean': np.mean(episode_return),
                 'reward_std': np.std(episode_return),
                 'reward_max': np.max(episode_return),
@@ -657,7 +682,6 @@ 
        Source code for ding.worker.collector.sample_serial_collector
        'total_envstep_count': self._total_envstep_count,
                 'total_train_sample_count': self._total_train_sample_count,
                 'total_episode_count': self._total_episode_count,
-                'total_duration': self._total_duration,
                 # 'each_reward': episode_return,
             }
             self._episode_info.clear()
diff --git a/_modules/ding/worker/replay_buffer/advanced_buffer.html b/_modules/ding/worker/replay_buffer/advanced_buffer.html
index 6ac023b9de..350fce75ee 100644
--- a/_modules/ding/worker/replay_buffer/advanced_buffer.html
+++ b/_modules/ding/worker/replay_buffer/advanced_buffer.html
@@ -301,7 +301,7 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
        from ding.worker.replay_buffer import IBuffer
 from ding.utils import SumSegmentTree, MinSegmentTree, BUFFER_REGISTRY
-from ding.utils import LockContext, LockContextType, build_logger
+from ding.utils import LockContext, LockContextType, build_logger, get_rank
 from ding.utils.autolog import TickTime
 from .utils import UsedDataRemover, generate_id, SampledDataAttrMonitor, PeriodicThruputMonitor, ThruputController
 
@@ -400,6 +400,7 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
        self._instance_name = instance_name
         self._end_flag = False
         self._cfg = cfg
+        self._rank = get_rank()
         self._replay_buffer_size = self._cfg.replay_buffer_size
         self._deepcopy = self._cfg.deepcopy
         # ``_data`` is a circular queue to store data (full data or meta data)
@@ -457,16 +458,22 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
        # Monitor & Logger
         monitor_cfg = self._cfg.monitor
-        if tb_logger is not None:
+        if self._rank == 0:
+            if tb_logger is not None:
+                self._logger, _ = build_logger(
+                    './{}/log/{}'.format(self._exp_name, self._instance_name), self._instance_name, need_tb=False
+                )
+                self._tb_logger = tb_logger
+            else:
+                self._logger, self._tb_logger = build_logger(
+                    './{}/log/{}'.format(self._exp_name, self._instance_name),
+                    self._instance_name,
+                )
+        else:
             self._logger, _ = build_logger(
                 './{}/log/{}'.format(self._exp_name, self._instance_name), self._instance_name, need_tb=False
             )
-            self._tb_logger = tb_logger
-        else:
-            self._logger, self._tb_logger = build_logger(
-                './{}/log/{}'.format(self._exp_name, self._instance_name),
-                self._instance_name,
-            )
+            self._tb_logger = None
         self._start_time = time.time()
         # Sampled data attributes.
         self._cur_learner_iter = -1
@@ -477,9 +484,10 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
        )
         self._sampled_data_attr_print_freq = monitor_cfg.sampled_data_attr.print_freq
         # Periodic thruput.
-        self._periodic_thruput_monitor = PeriodicThruputMonitor(
-            self._instance_name, monitor_cfg.periodic_thruput, self._logger, self._tb_logger
-        )
+        if self._rank == 0:
+            self._periodic_thruput_monitor = PeriodicThruputMonitor(
+                self._instance_name, monitor_cfg.periodic_thruput, self._logger, self._tb_logger
+            )
 
         # Used data remover
         self._enable_track_used_data = self._cfg.enable_track_used_data
@@ -504,9 +512,10 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
        return
         self._end_flag = True
         self.clear()
-        self._periodic_thruput_monitor.close()
-        self._tb_logger.flush()
-        self._tb_logger.close()
+        if self._rank == 0:
+            self._periodic_thruput_monitor.close()
+            self._tb_logger.flush()
+            self._tb_logger.close()
         if self._enable_track_used_data:
             self._used_data_remover.close()
        
 
@@ -668,7 +677,8 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
        self._set_weight(data)
             self._data[self._tail] = data
             self._valid_count += 1
-            self._periodic_thruput_monitor.valid_count = self._valid_count
+            if self._rank == 0:
+                self._periodic_thruput_monitor.valid_count = self._valid_count
             self._tail = (self._tail + 1) % self._replay_buffer_size
             self._next_unique_id += 1
             self._monitor_update_of_push(1, cur_collector_envstep)
@@ -729,7 +739,8 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
        data_start = 0
                         valid_data_start += L
             self._valid_count += len(valid_data)
-            self._periodic_thruput_monitor.valid_count = self._valid_count
+            if self._rank == 0:
+                self._periodic_thruput_monitor.valid_count = self._valid_count
             # Update ``tail`` and ``next_unique_id`` after the whole list is pushed into buffer.
             self._tail = (self._tail + length) % self._replay_buffer_size
             self._next_unique_id += length
@@ -862,8 +873,9 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
        if self._enable_track_used_data:
                 self._used_data_remover.add_used_data(self._data[idx])
             self._valid_count -= 1
-            self._periodic_thruput_monitor.valid_count = self._valid_count
-            self._periodic_thruput_monitor.remove_data_count += 1
+            if self._rank == 0:
+                self._periodic_thruput_monitor.valid_count = self._valid_count
+                self._periodic_thruput_monitor.remove_data_count += 1
             self._data[idx] = None
             self._sum_tree[idx] = self._sum_tree.neutral_element
             self._min_tree[idx] = self._min_tree.neutral_element
@@ -918,7 +930,8 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
                    - add_count (:obj:`int`): How many datas are added into buffer.
             - cur_collector_envstep (:obj:`int`): Collector envstep, passed in by collector.
         """
-        self._periodic_thruput_monitor.push_data_count += add_count
+        if self._rank == 0:
+            self._periodic_thruput_monitor.push_data_count += add_count
         if self._use_thruput_controller:
             self._thruput_controller.history_push_count += add_count
         self._cur_collector_envstep = cur_collector_envstep
@@ -933,7 +946,8 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
                        e.g. use, priority, staleness, etc.
             - cur_learner_iter (:obj:`int`): Learner iteration, passed in by learner.
         """
-        self._periodic_thruput_monitor.sample_data_count += len(sample_data)
+        if self._rank == 0:
+            self._periodic_thruput_monitor.sample_data_count += len(sample_data)
         if self._use_thruput_controller:
             self._thruput_controller.history_sample_count += len(sample_data)
         self._cur_learner_iter = cur_learner_iter
@@ -962,7 +976,7 @@ 
        Source code for ding.worker.replay_buffer.advanced_buffer
        'staleness_max': self._sampled_data_attr_monitor.max['staleness'](),
             'beta': self._beta,
         }
-        if self._sampled_data_attr_print_count % self._sampled_data_attr_print_freq == 0:
+        if self._sampled_data_attr_print_count % self._sampled_data_attr_print_freq == 0 and self._rank == 0:
             self._logger.info("=== Sample data {} Times ===".format(self._sampled_data_attr_print_count))
             self._logger.info(self._logger.get_tabulate_vars_hor(out_dict))
             for k, v in out_dict.items():
diff --git a/_sources/12_policies/index_zh.rst.txt b/_sources/12_policies/index_zh.rst.txt
index 08ca441bf3..29888f492a 100644
--- a/_sources/12_policies/index_zh.rst.txt
+++ b/_sources/12_policies/index_zh.rst.txt
@@ -30,6 +30,13 @@
 
     ddpg_zh
 
+.. toctree::
+    :maxdepth: 3
+    :caption: 演员—评委
+
+    ddpg_zh
+    td3_zh
+
 .. toctree::
     :maxdepth: 3
     :caption: 探索
diff --git a/_sources/12_policies/td3.rst.txt b/_sources/12_policies/td3.rst.txt
index e6a96a4c73..4d18a6972e 100644
--- a/_sources/12_policies/td3.rst.txt
+++ b/_sources/12_policies/td3.rst.txt
@@ -123,7 +123,7 @@ The default config is defined as follows:
 .. autoclass:: ding.policy.td3.TD3Policy
 
 1. Model
-   Here we provide examples of `td3` model as default model for `TD3`.
+   Here we provide examples of `QAC` model as default model for `TD3`.
 
     .. autoclass:: ding.model.template.qac.QAC
         :members: forward, compute_actor, compute_critic
diff --git a/_sources/12_policies/td3_zh.rst.txt b/_sources/12_policies/td3_zh.rst.txt
new file mode 100644
index 0000000000..e829a87ce0
--- /dev/null
+++ b/_sources/12_policies/td3_zh.rst.txt
@@ -0,0 +1,322 @@
+TD3
+^^^^^^^
+
+概述
+---------
+
+Twin Delayed DDPG (TD3) 首次在2018年发表的论文 `Addressing Function Approximation Error in Actor-Critic Methods `_ 中被提出，它是一种考虑了策略和值更新中函数逼近误差之间相互作用的算法。
+TD3 是一种基于 `deep deterministic policy gradient (DDPG) `_ 的 **无模型（model-free）** 算法，属于 **演员—评委（actor-critic）** 类算法中的一员。此算法可以解决高估偏差，时间差分方法中的误差积累以及连续动作空间中对超参数的高敏感性的问题。具体来说，TD3通过引入以下三个关键技巧来解决这些问题:
+
+1. 截断双 Q 学习（Clipped Double-Q Learning）：在计算Bellman误差损失函数中的目标时，TD3 学习两个 Q 函数而不是一个，并使用较小的 Q 值。
+
+2. 延迟的策略更新（Delayed Policy Updates）： TD3更新策略(和目标网络)的频率低于 Q 函数的更新频率。在本文中，作者建议在对 Q 函数更新两次后进行一次策略更新。在我们的实现中，TD3 仅在对 critic 网络更新一定次数 :math:`d` 后，才对策略和目标网络进行一次更新。我们通过配置参数 ``learn.actor_update_freq`` 来实现策略更新延迟。
+
+3. 目标策略平滑（Target Policy Smoothing）：通过沿动作变化平滑 Q 值，TD3 为目标动作引入噪声，使策略更加难以利用 Q 函数的预测错误。
+
+核心要点
+-----------
+1. TD3 仅支持 **连续动作空间** （例如： MuJoCo）.
+
+2. TD3 是一种 **异策略（off-policy）** 算法.
+
+3. TD3 是一种 **无模型（model-free）** 和 **演员—评委（actor-critic）** 的强化学习算法，它会分别优化策略网络和Q网络。
+
+关键方程或关键框图
+---------------------------
+TD3 提出了一个截断双 Q 学习变体（Clipped Double-Q Learning），它利用了这样一个概念，即遭受高估偏差的值估计可以用作真实值估计的近似上限。结合下式计算 :math:`Q_{\theta_1}` 的 target，当 :math:`Q_{\theta_2} \textless Q_{\theta_1}` 时，我们认为 :math:`Q_{\theta_1}` 高估了，并将其当作真实值估计的近似上限，取较小的 :math:`Q_{\theta_2}` 计算 :math:`y_1` 以减少过估计。
+
+作为原始版本双 Q 学习的一种拓展，此扩展的动机是，如果目标和当前网络过于相似，例如在actor-critic框架中使用缓慢变化的策略，原始版本的双 Q 学习有时是无效的。
+
+TD3表明，目标网络是深度 Q 学习方法中的一种常见方法，通过减少误差积累来减少目标的方差是至关重要的。
+
+首先，为了解决动作价值估计和策略提升的耦合问题，TD3建议延迟策略更新，直到动作价值估计值尽可能小。因此，TD3只在固定数量次数的 critic 网络更新后再更新策略和目标网络。
+我们通过配置参数 ``learn.actor_update_freq`` 来实现策略更新延迟。
+
+其次，截断双 Q 学习（Clipped Double Q-learning）算法的目标更新如下:
+
+.. math::
+    y_{1}=r+\gamma \min _{i=1,2} Q_{\theta_{i}^{\prime}}\left(s^{\prime}, \pi_{\phi_{1}}\left(s^{\prime}\right)\right)
+
+在实现中，我们可以通过使用单一的 actor 来优化 :math:`Q_{\theta_1}` 以减少计算开销。由于 TD target 计算过程中使用了同样的策略，因此对于 :math:`Q_{\theta_2}` 的优化目标， :math:`y_2= y_1` 。
+
+
+最后，确定性策略的一个问题是，由于以神经网络参数化的 Q 函数对 buffer 中动作的价值估计存在突然激增的尖峰（narrow peaks），这会导致策略网络过拟合到这些动作上。并且当更新 critic 网络时，使用确定性策略的学习目标极易受到函数近似误差引起的不准确性的影响，从而增加了目标的方差。
+TD3 引入了一种用于深度价值学习的正则化策略，即目标策略平滑，它模仿了SARSA的学习更新。具体来说，TD3通过在目标策略中添加少量随机噪声并在多次计算以下数值后，取平均值来近似此期望：
+
+.. math::
+    \begin{array}{l}
+    y=r+\gamma Q_{\theta^{\prime}}\left(s^{\prime}, \pi_{\phi^{\prime}}\left(s^{\prime}\right)+\epsilon\right) \\
+    \epsilon \sim \operatorname{clip}(\mathcal{N}(0, \sigma),-c, c)
+    \end{array}
+
+我们通过配置 ``learn.noise``、 ``learn.noise_sigma`` 和 ``learn.noise_range`` 来实现目标策略平滑。
+
+伪代码
+----------
+
+.. math::
+
+    :nowrap:
+
+    \begin{algorithm}[H]
+        \caption{Twin Delayed DDPG}
+        \label{alg1}
+    \begin{algorithmic}[1]
+        \STATE Input: initial policy parameters $\theta$, Q-function parameters $\phi_1$, $\phi_2$, empty replay buffer $\mathcal{D}$
+        \STATE Set target parameters equal to main parameters $\theta_{\text{targ}} \leftarrow \theta$, $\phi_{\text{targ},1} \leftarrow \phi_1$, $\phi_{\text{targ},2} \leftarrow \phi_2$
+        \REPEAT
+            \STATE Observe state $s$ and select action $a = \text{clip}(\mu_{\theta}(s) + \epsilon, a_{Low}, a_{High})$, where $\epsilon \sim \mathcal{N}$
+            \STATE Execute $a$ in the environment
+            \STATE Observe next state $s'$, reward $r$, and done signal $d$ to indicate whether $s'$ is terminal
+            \STATE Store $(s,a,r,s',d)$ in replay buffer $\mathcal{D}$
+            \STATE If $s'$ is terminal, reset environment state.
+            \IF{it's time to update}
+                \FOR{$j$ in range(however many updates)}
+                    \STATE Randomly sample a batch of transitions, $B = \{ (s,a,r,s',d) \}$ from $\mathcal{D}$
+                    \STATE Compute target actions
+                    \begin{equation*}
+                        a'(s') = \text{clip}\left(\mu_{\theta_{\text{targ}}}(s') + \text{clip}(\epsilon,-c,c), a_{Low}, a_{High}\right), \;\;\;\;\; \epsilon \sim \mathcal{N}(0, \sigma)
+                    \end{equation*}
+                    \STATE Compute targets
+                    \begin{equation*}
+                        y(r,s',d) = r + \gamma (1-d) \min_{i=1,2} Q_{\phi_{\text{targ},i}}(s', a'(s'))
+                    \end{equation*}
+                    \STATE Update Q-functions by one step of gradient descent using
+                    \begin{align*}
+                        & \nabla_{\phi_i} \frac{1}{|B|}\sum_{(s,a,r,s',d) \in B} \left( Q_{\phi_i}(s,a) - y(r,s',d) \right)^2 && \text{for } i=1,2
+                    \end{align*}
+                    \IF{ $j \mod$ \texttt{policy\_delay} $ = 0$}
+                        \STATE Update policy by one step of gradient ascent using
+                        \begin{equation*}
+                            \nabla_{\theta} \frac{1}{|B|}\sum_{s \in B}Q_{\phi_1}(s, \mu_{\theta}(s))
+                        \end{equation*}
+                        \STATE Update target networks with
+                        \begin{align*}
+                            \phi_{\text{targ},i} &\leftarrow \rho \phi_{\text{targ}, i} + (1-\rho) \phi_i && \text{for } i=1,2\\
+                            \theta_{\text{targ}} &\leftarrow \rho \theta_{\text{targ}} + (1-\rho) \theta
+                        \end{align*}
+                    \ENDIF
+                \ENDFOR
+            \ENDIF
+        \UNTIL{convergence}
+    \end{algorithmic}
+    \end{algorithm}
+
+.. image:: images/TD3.png
+   :scale: 80%
+   :align: center
+
+扩展
+-----------
+TD3 可以与以下技术相结合使用:
+
+    - 遵循随机策略的经验回放池初始采集
+
+        在优化模型参数前，我们需要让经验回放池存有足够数目的遵循随机策略的 transition 数据，从而确保在算法初期模型不会对经验回放池数据过拟合。
+        DDPG/TD3 的 ``random-collect-size`` 默认设置为25000, SAC 为10000。
+        我们只是简单地遵循 SpinningUp 默认设置，并使用随机策略来收集初始化数据。
+        我们通过配置 ``random-collect-size`` 来控制初始经验回放池中的 transition 数目。
+
+
+
+
+
+实现
+----------------
+默认配置定义如下:
+
+.. autoclass:: ding.policy.td3.TD3Policy
+
+1. 模型
+
+   在这里，我们提供了 `QAC` 模型作为 `TD3` 的默认模型的示例。
+
+    .. autoclass:: ding.model.template.qac.QAC
+        :members: forward, compute_actor, compute_critic
+        :noindex:
+
+2. 训练 actor-critic 模型
+
+    首先，我们在 ``_init_learn`` 中分别初始化 actor 和 critic 优化器。
+    设置两个独立的优化器可以保证我们在计算 actor 损失时只更新 actor 网络参数而不更新 critic 网络，反之亦然。
+
+        .. code-block:: python
+
+            # actor and critic optimizer
+            self._optimizer_actor = Adam(
+                self._model.actor.parameters(),
+                lr=self._cfg.learn.learning_rate_actor,
+                weight_decay=self._cfg.learn.weight_decay
+            )
+            self._optimizer_critic = Adam(
+                self._model.critic.parameters(),
+                lr=self._cfg.learn.learning_rate_critic,
+                weight_decay=self._cfg.learn.weight_decay
+            )
+
+    在 ``_forward_learn`` 中，我们通过计算 critic 损失、更新 critic 网络、计算 actor 损失和更新 actor 网络来更新 actor-critic 策略。
+        1. ``critic loss computation``
+
+            - 计算当前值和目标值
+
+            .. code-block:: python
+
+                # current q value
+                q_value = self._learn_model.forward(data, mode='compute_critic')['q_value']
+                q_value_dict = {}
+                if self._twin_critic:
+                    q_value_dict['q_value'] = q_value[0].mean()
+                    q_value_dict['q_value_twin'] = q_value[1].mean()
+                else:
+                    q_value_dict['q_value'] = q_value.mean()
+                # target q value. SARSA: first predict next action, then calculate next q value
+                with torch.no_grad():
+                    next_action = self._target_model.forward(next_obs, mode='compute_actor')['action']
+                    next_data = {'obs': next_obs, 'action': next_action}
+                    target_q_value = self._target_model.forward(next_data, mode='compute_critic')['q_value']
+
+            - Q 网络目标（**Clipped Double-Q Learning**）和损失计算
+
+            .. code-block:: python
+
+                if self._twin_critic:
+                    # TD3: two critic networks
+                    target_q_value = torch.min(target_q_value[0], target_q_value[1])  # find min one as target q value
+                    # network1
+                    td_data = v_1step_td_data(q_value[0], target_q_value, reward, data['done'], data['weight'])
+                    critic_loss, td_error_per_sample1 = v_1step_td_error(td_data, self._gamma)
+                    loss_dict['critic_loss'] = critic_loss
+                    # network2(twin network)
+                    td_data_twin = v_1step_td_data(q_value[1], target_q_value, reward, data['done'], data['weight'])
+                    critic_twin_loss, td_error_per_sample2 = v_1step_td_error(td_data_twin, self._gamma)
+                    loss_dict['critic_twin_loss'] = critic_twin_loss
+                    td_error_per_sample = (td_error_per_sample1 + td_error_per_sample2) / 2
+                else:
+                    # DDPG: single critic network
+                    td_data = v_1step_td_data(q_value, target_q_value, reward, data['done'], data['weight'])
+                    critic_loss, td_error_per_sample = v_1step_td_error(td_data, self._gamma)
+                    loss_dict['critic_loss'] = critic_loss
+
+        2. ``critic network update``
+
+            .. code-block:: python
+
+                self._optimizer_critic.zero_grad()
+                for k in loss_dict:
+                    if 'critic' in k:
+                        loss_dict[k].backward()
+                self._optimizer_critic.step()
+
+        3. ``actor loss computation`` 和  ``actor network update`` 取决于策略更新延迟（**delaying the policy updates**）的程度。
+
+            .. code-block:: python
+
+                if (self._forward_learn_cnt + 1) % self._actor_update_freq == 0:
+                    actor_data = self._learn_model.forward(data['obs'], mode='compute_actor')
+                    actor_data['obs'] = data['obs']
+                    if self._twin_critic:
+                        actor_loss = -self._learn_model.forward(actor_data, mode='compute_critic')['q_value'][0].mean()
+                    else:
+                        actor_loss = -self._learn_model.forward(actor_data, mode='compute_critic')['q_value'].mean()
+
+                    loss_dict['actor_loss'] = actor_loss
+                    # actor update
+                    self._optimizer_actor.zero_grad()
+                    actor_loss.backward()
+                    self._optimizer_actor.step()
+
+
+3. 目标网络（Target Network）
+
+    我们通过 ``_init_learn`` 中的 ``self._target_model`` 初始化来实现目标网络。
+    我们配置 ``learn.target_theta`` 来控制平均中的插值因子。
+
+
+    .. code-block:: python
+
+        # main and target models
+        self._target_model = copy.deepcopy(self._model)
+        self._target_model = model_wrap(
+            self._target_model,
+            wrapper_name='target',
+            update_type='momentum',
+            update_kwargs={'theta': self._cfg.learn.target_theta}
+        )
+
+
+4. 目标策略平滑正则（Target Policy Smoothing Regularization）
+
+    我们通过 ``_init_learn`` 中的目标模型初始化来实现目标策略平滑正则。
+    我们通过配置 ``learn.noise``、 ``learn.noise_sigma`` 和 ``learn.noise_range`` 来控制引入的噪声，通过对噪声进行截断使所选动作不会太过偏离原始动作。
+
+    .. code-block:: python
+
+        if self._cfg.learn.noise:
+            self._target_model = model_wrap(
+                self._target_model,
+                wrapper_name='action_noise',
+                noise_type='gauss',
+                noise_kwargs={
+                    'mu': 0.0,
+                    'sigma': self._cfg.learn.noise_sigma
+                },
+                noise_range=self._cfg.learn.noise_range
+            )
+
+
+
+基准
+-----------
+
+
++---------------------+-----------------+-----------------------------------------------------+--------------------------+----------------------+
+| environment         |best mean reward | evaluation results                                  | config link              | comparison           |
++=====================+=================+=====================================================+==========================+======================+
+|                     |                 |                                                     |`config_link_p `_  |                      |
+|(HalfCheetah-v3)     |                 |                                                     |                          |                      |
++---------------------+-----------------+-----------------------------------------------------+--------------------------+----------------------+
+|                     |                 |                                                     |`config_link_q `_      |   Hopper-v3)         |
+|                     |                 |                                                     |                          |                      |
++---------------------+-----------------+-----------------------------------------------------+--------------------------+----------------------+
+|                     |                 |                                                     |`config_link_s `_       |                      |
+|                     |                 |                                                     |                          |                      |
++---------------------+-----------------+-----------------------------------------------------+--------------------------+----------------------+
+
+
+P.S.：
+
+1. 上述结果是通过在五个不同的随机种子(0,1,2,3,4)上运行相同的配置获得的。
+
+
+
+参考文献
+-----------
+Scott Fujimoto, Herke van Hoof, David Meger: “Addressing Function Approximation Error in Actor-Critic Methods”, 2018; [http://arxiv.org/abs/1802.09477 arXiv:1802.09477].
+
+其他公开的实现
+----------------------------
+
+- `sb3`_
+- `rllib (Ray)`_
+- `TD3 release repo`_
+- Spinningup_
+- tianshou_
+
+
+.. _sb3: https://github.com/DLR-RM/stable-baselines3/tree/master/stable_baselines3/td3
+.. _`rllib (Ray)`: https://github.com/ray-project/ray/blob/master/rllib/agents/ddpg/td3.py
+.. _`TD3 release repo`: https://github.com/sfujim/TD3
+.. _Spinningup: https://github.com/openai/spinningup/tree/master/spinup/algos/pytorch/td3
+.. _tianshou: https://github.com/thu-ml/tianshou/blob/master/tianshou/policy/modelfree/td3.py
diff --git a/genindex.html b/genindex.html
index 58c3b5849a..30aeeee1f5 100644
--- a/genindex.html
+++ b/genindex.html
@@ -3351,7 +3351,7 @@ 
        T
      • TD3BCPolicy (class in ding.policy.td3_bc)
        • -
      • TD3Policy (class in ding.policy.td3) +
      • TD3Policy (class in ding.policy.td3), [1]
      • TimeWrapper (class in ding.utils.time_helper)
        • diff --git a/index_zh.html b/index_zh.html index a4020404aa..ee093efe97 100644 --- a/index_zh.html +++ b/index_zh.html @@ -396,6 +396,8 @@

        欢迎来到 DI-engine 中文文档Rainbow
      • IQN
      • DDPG
        • +
      • DDPG
        • +
      • TD3
      • ICM
      • NGU
      • DIAYN
        • diff --git a/objects.inv b/objects.inv index 8edcf16574..693423bf9e 100644 Binary files a/objects.inv and b/objects.inv differ diff --git a/searchindex.js b/searchindex.js index 97046030b4..e3a29e5e9d 100644 --- a/searchindex.js +++ b/searchindex.js @@ -1 +1 @@ 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3,224,232,235,237,238],divers:[12,13,14,15,20,26,50,199,212,230,234],diversifi:[203,204],divid:[14,16,22,29,56,147,150,210,234,258,274,298,302],divis:120,diyan:[14,15],dizoo:[2,3,4,5,10,11,28,35,40,41,44,47,49,52,178,179,184,185,232,233,244,245,246,247,248,249,250,251,252,253,254,255,256,257,258,259,260,261,262,263,264,265,267,268,269,272,273,274,275,276,277,278,279,280,281,282,283,284,285,286,287,288,289,290,291,292,293,294,295],dm:[262,263],dm_control:[258,259],dmc2gym:[38,39,270,271,312,313],dmc2gym_cartpole_bal:[258,259],dmc2gym_cartpole_balance_ddpg:[258,259],dmc2gym_cartpole_balance_ddpg_ev:[258,259],dmc2gym_env:[258,259],dmc2gymenv:[258,259],dmlab:229,doc:[10,11,47,80,95,96,98,100,105,143,165,167,178,179,187,197,198,201,212,229,236,239,240,267,270,310,311,312,313],docker:[6,7,245,246,247,248,256,257,258,259,262,263,266,272,273,274,275,278,279,283,284,287,288,289,290,291],dockerfil:35,dockerhub:[8,9],document:[0,2,4,10,26,29,38,42,47,150,180,184,253,260,262,264,281,300,304,310,311],dodgebal:[285,286],doe:[14,22,26,33,36,40,42,50,94,110,113,143,150,176,180,197,200,209,217,228,230,245,247,249,256,258,260,264,272,274,276,278,281,283,285,288,290,292,300,304],doesn:[192,201,207,224,274],dof:258,doi:[16,17,22,23,188,242],domain:[161,180,187,188,218,236,242,258,259],domain_nam:[258,259],don:[10,29,126,130,175,178,224,234,276,277],done:[4,5,14,36,38,40,41,42,49,53,58,71,72,79,94,107,108,109,110,111,113,114,115,124,131,143,178,179,180,187,194,195,196,197,198,200,201,202,207,212,219,220,221,229,230,231,232,235,236,238,239,240,245,246,247,248,256,257,258,259,260,261,262,263,266,267,268,272,273,276,277,278,279,285,286,287,288,289,290,291,292,293],done_n:47,donoghu:[26,27],dontprintsemicolon:238,door:276,doorkei:[210,211,276,277],doron:212,dot:[102,212,276],dota2:[12,13],dota:[12,13],doteq:224,doubl:[40,41,110,111,190,191,197,198,200,201,202,205,213,214,215,216,226,227,229,230,231,235,239,240,255],double_dqn:53,double_q:47,down:[16,17,26,49,149,194,243,245,246,255,258,262,267,268,272,274,280,285,286,292,293],downgrad:267,download:[4,5,8,9,256,257,260,278,279,290,291],downsampl:[143,241],dozen:280,dp:[180,181,269],dpg:[197,198],dq:200,dqfd:[16,36,37,213,230,231,272,273,312],dqfd_nstep_td_data:[230,231],dqfd_nstep_td_error_with_rescal:[230,231],dqfdpolici:200,dqn:[0,1,2,3,4,5,10,11,14,15,26,27,28,29,30,39,48,49,52,53,54,55,90,96,104,112,115,116,178,179,181,184,185,190,191,192,194,198,200,205,206,207,213,214,215,216,219,220,221,226,227,228,229,230,231,237,244,245,246,249,250,251,252,253,254,267,268,272,273,285,286,294,295,312,313],dqn_polici:52,dqnmultidiscretepolici:49,dqnpolici:[2,3,4,5,10,11,49,52,90,112,116,178,179,201,202,232,233,249,250,253,254],drac:223,drag:[146,304],dragan:[236,237],dramat:[201,218],drastic:210,draw:[10,93,187,237,238,312,313],drawback:29,drawn:[194,237,304],dream:[22,23],dreamer:[22,23],drew:[16,17],dribbl:262,dribbler:262,drift:[16,222,229],drive:[0,4,24,26,194,203,210,258,274],drive_env:[274,275],drive_wrapp:[274,275],driveenvwrapp:[274,275],driven:[14,15,26,27,194,195,203,204,210,211,221,230,231,258],driver:26,driving_reward:[274,275],drl:[0,10,11,12,13,14,15,54,238],drop:[26,124,167,197,212,260,276,277],drop_extra:167,dropout:[102,143],dropout_prob:143,dropout_ratio:[143,207],drqn:[53,104,111,115,192,201,202,225,228,229,243],drug:[194,203],dst_checkpoint:92,dt:126,dtype:[40,41,47,71,136,146,199,245,246,256,257,272,273,276,277,278,279,283,284,285,286,287,288,289],dual:[188,224],dual_clip:[130,224],due:[10,14,16,22,24,29,127,178,180,188,194,197,203,206,230,234,242,267,288,294,298,302],duel:[24,25,96,102,105,106,111,116,184,185,187,188,190,191,192,200,201,202,213,214,221,225,229,230,231,243,244,251,252,267,268,272,273,285,286],duelinghead:[38,39,54,97,199,200,201,202],dulac:[16,17],dummi:22,dummy_compressor:154,dummy_decompressor:154,dump:[145,152],dun:212,duplex:[24,25],duplic:[42,58,59],dure:[4,22,24,26,33,36,40,50,58,61,65,66,77,79,110,111,113,180,193,194,196,197,198,200,201,202,203,206,207,219,220,223,225,226,230,232,234,236,237,239,240,245,253,256,264,274,281,290,302],dw_t:126,dx:242,dx_t:126,dyna:[22,23],dynam:[12,13,14,15,16,22,23,26,40,50,70,180,181,189,210,218,234,236,242,245,260,272,274,276,278,283,285,288,290],dynamic_se:[4,5,40,41,50,51,71,150,249,250,253,254,258,259,280,281,282,288,289,290,291],e:[8,10,12,14,24,25,26,27,29,33,36,38,40,42,44,47,48,49,58,72,76,88,89,92,94,96,100,101,106,110,111,117,118,120,121,122,124,129,131,134,139,147,149,156,159,175,176,178,179,180,181,186,189,192,193,194,196,197,198,199,201,202,203,205,207,210,211,212,215,217,219,220,221,223,224,226,227,230,231,232,234,235,236,237,238,239,240,241,242,243,245,249,250,256,257,258,260,262,263,264,265,267,268,274,275,276,277,280,287,288,290,291,292,293,294,298,300],e_:[120,180,181],e_gamemode_corn:[262,263],e_gamemode_freekick:[262,263],e_gamemode_goalkick:[262,263],e_gamemode_kickoff:[262,263],e_gamemode_norm:[262,263],e_gamemode_penalti:[262,263],e_gamemode_throwin:[262,263],e_greedi:83,each:[0,2,10,12,14,16,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Learning","\u79bb\u7ebf\u5f3a\u5316\u5b66\u4e60","\u914d\u7f6e\u6587\u4ef6\u7cfb\u7edf","Distributed","\u5206\u5e03\u5f0f","System Design","\u7cfb\u7edf\u8bbe\u8ba1","Middleware","\u4e2d\u95f4\u4ef6","\u9ad8\u6027\u80fdRPC\u6846\u67b6","Buffer User Guide","Buffer \u4f7f\u7528\u6307\u5357","How to customize the neural network model","\u5982\u4f55\u81ea\u5b9a\u4e49\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\uff08model\uff09","How to migrate your own environment to DI-engine","\u5982\u4f55\u5c06\u81ea\u5df1\u7684\u73af\u5883\u8fc1\u79fb\u5230DI-engine\u4e2d","Why do we need Env Wrapper","\u4e3a\u4ec0\u4e48\u9700\u8981 Env Wrapper","How to construct a data pipeline for Imitation Learning / Offline Training","Best Practice","\u6700\u4f73\u5b9e\u8df5","\u5982\u4f55\u6784\u5efa\u591a\u667a\u80fd\u4f53\u73af\u5883","\u5982\u4f55\u81ea\u5b9a\u4e49\u6a21\u578b Wrapper","\u591a\u91cd\u79bb\u6563\u52a8\u4f5c\u7a7a\u95f4\u793a\u4f8b","Random Seed","\u968f\u673a\u79cd\u5b50","\u6ce8\u518c\u5668\uff08registry\uff09","\u5982\u4f55\u4f7f\u7528 RNN","\u5982\u4f55\u7406\u89e3\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u751f\u6210\u7684\u6587\u4ef6\u5939\uff1f","Wandb","config.config","Config","data.buffer.buffer","data.buffer.deque_buffer","data.buffer","data.buffer.middleware.clone_object","data.buffer.middleware.group_sample","data.buffer.middleware","data.buffer.middleware.padding","data.buffer.middleware.priority","data.buffer.middleware.sample_range_view","data.buffer.middleware.staleness_check","data.buffer.middleware.use_time_check","Data","envs.env","envs.env_manager","envs.env_wrappers","Env","framework.context","Framework","framework.middleware.ckpt_handler","framework.middleware.collector","framework.middleware.functional.advantage_estimator","framework.middleware.functional.collector","framework.middleware.functional.data_processor","framework.middleware.functional.enhancer","framework.middleware.functional.evaluator","framework.middleware.functional.explorer","framework.middleware.functional","framework.middleware.functional.trainer","framework.middleware","framework.middleware.learner","framework.parallel","framework.task","API Doc","League","league.league","league.payoff","league.player","common.encoder","common.head","Common","common.utils","Model","template.QAC","template.VAC","template.collaq","template.coma","Template","template.q_learning","template.qmix","A2C","CollaQ","COMA","DDPG","DQN","Policy","PPG","QMIX","R2D2","Rainbow","Base Model","Gail","Reward Model","Pdeil","Pwil","Red","rl_utils.a2c","rl_utils.adder","rl_utils.coma","rl_utils.exploration","rl_utils.gae","RL Utils","rl_utils.isw","rl_utils.ppo","rl_tuils.td","rl_tuils.upgo","rl_tuils.value_rescale","rl_tuils.vtrace","checkpoint_helper","data_helper","distribution","Torch Utils","metric","nn_test_helper","optimizer_helper","loss.cross_entropy_loss","network.activation","utils.collection_helper","utils.compression_helper","data.collate_fn","data.dataloader","utils.data","cache","utils.default_helper","utils.design_helper","utils.file_helper","utils.import_helper","Utils","utils.k8s_helper","utils.lock_helper","utils.log_helper","utils.pytorch_ddp_dist_helper","utils.segment_tree","utils.system_helper","utils.time_helper","worker.collector.base_serial_collector","worker.collector.base_serial_evaluator","worker.collector.comm","worker.collector.episode_serial_collector","Collector","worker.collector.sample_serial_collector","worker.coordinator.comm_coordinator","worker.coordinator.commander","worker.coordinator.coordinator","Coordinator","worker.coordinator.resource_manager","worker.learner.comm","Learner","worker.learner","worker.replay_buffer","Replay Buffer","FAQ","FAQ","Basic Concepts","\u57fa\u672c\u6982\u5ff5","Introduction to RL","\u5f3a\u5316\u5b66\u4e60\u57fa\u7840\u6982\u5ff5\u4ecb\u7ecd","Learn From DI-zoo","\u4ece DI-zoo \u5f00\u59cb\u5b66\u4e60","A2C","ACER","AlphaGo","ATOC","C51","C51","CollaQ","COMA","CQL","CQL","D4PG","DDPG","DDPG","DIAYN","DQfD","DQN","DQN","EDAC","EDAC","FQF","GAIL","GTrXL","Guided Cost Learning","HER","ICM","ICM","IMPALA","RL Algorithms Cheat Sheet","\u5f3a\u5316\u5b66\u4e60\u7b97\u6cd5","IQN","IQN","MBPO","MCTS","MDQN","MDQN","NGU","PLR","PPG","PPO","QMIX","QRDQN","QRDQN","QTRAN","R2D2","R2D3","R2D3","Rainbow","Rainbow","RND","SAC","SQIL","SQL","SQN","TD3","TD3BC","TREX","VPN","WQMIX","Acrobot","Atari","Atari","BipedalWalker","BipedalWalker","BitFlip","BitFlip","Bsuite","Bsuite","Cartpole","Cartpole","Competitive RL","D4RL (MuJoCo)","D4RL (MuJoCo)","dmc2gym","dmc2gym","Evogym","Evogym","Google Research Football (Gfootball)","Google Research Football (Gfootball)","gym hybrid","Gym-Hybrid","Gym-Soccer (HFO)","Gym-Super-Mario-Bros","Gym-Super-Mario-Bros","Image Classification","RL Env Examples","\u5f3a\u5316\u5b66\u4e60\u73af\u5883\u793a\u4f8b","LunarLander","LunarLander","Metadrive","Metadrive","MiniGrid","MiniGrid","MuJoCo","MuJoCo","Overcooked","Pendulum","Pendulum","PettingZoo","PettingZoo","Procgen","Procgen","PyBullet","Slime Volleyball","Slime Volleyball","SMAC","SMAC","Sokoban","Sokoban","Specifications of DI-engine Config","DI-engine Config\u89c4\u8303","Specification","\u4ee3\u7801\u89c4\u8303","Middleware specification","\u4e2d\u95f4\u4ef6\u7f16\u5199\u89c4\u8303","Code Style Guide","\u4ee3\u7801\u98ce\u683c\u6307\u5357","Unit Test Guide","\u5355\u5143\u6d4b\u8bd5\u6307\u5357","Diagrams and Visualization","\u56fe\u50cf\u4e0e\u53ef\u89c6\u5316","Git Usage","Git \u4f7f\u7528","Github Cooperation","Github \u5408\u4f5c\u6a21\u5f0f","Github Usage","Github \u7684\u4f7f\u7528","Welcome to DI-engine\u2019s documentation!","\u6b22\u8fce\u6765\u5230 DI-engine 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seri:152,desgin:26,design:[2,4,10,12,14,16,20,62,115,117,118,124,137,175,180,187,190,207,210,211,221,229,230,231,232,252,257,261,263,264,273,275,279,301,303,311,312,313],design_help:[90,154],desir:[38,143,209,252],despit:26,destin:[4,92,275],destroi:[165,167,291],destructor:268,detach:[14,15,187,234,235,236],detail:[10,14,24,26,38,40,42,44,80,93,95,96,100,101,143,161,164,165,173,175,178,180,187,190,192,194,199,200,201,207,209,212,213,217,219,224,225,226,229,232,240,244,246,248,254,259,261,263,265,268,273,275,277,279,282,284,286,289,291,293,297,301,303,305,311,312],detail_explan:200,detect:161,determin:[33,50,59,101,109,110,131,163,180,186,189,194,195,196,197,198,199,212,218,222,224,234,235,237,239,240,241,257,263,277,279,303],determinist:[14,16,17,96,137,180,181,196,197,198,215,219,220,232,234,239,241],deterministic_ev:235,determist:236,dev:[263,264,267],develop:[0,6,20,26,33,42,178,246,257,279,281,284,291,295,303,309,311],devi:189,deviat:[42,126,203,224,234,240,282],devic:[4,12,16,35,44,58,117,120,121,122,126,136,147,161,184,206,208,210,211,212,221,230,231,234,235,236,242,268,270],device_id:270,device_map:35,dgail:[16,17],dhariw:224,dhruv:189,dhruva:196,di:[2,3,5,6,8,9,10,11,28,29,30,33,34,35,36,37,38,39,41,43,45,46,48,50,51,52,54,58,110,113,192,193,196,197,198,200,201,202,207,209,210,213,214,222,223,224,226,227,228,229,230,232,233,234,236,237,239,240,241,244,271,272,297,298,299,300,301,302,303,305,311,312],diagnost:72,diagon:235,diagram:[26,33,180,230,313],dialogu:[194,203],diayn:[214,314],dict:[28,34,36,37,38,39,40,41,44,47,48,52,53,55,56,58,59,70,71,72,74,80,87,89,92,93,94,95,96,98,100,101,102,103,105,106,107,108,109,110,111,113,114,115,116,117,120,121,122,124,129,134,135,136,137,142,143,146,147,150,152,155,157,161,162,163,164,165,167,168,169,170,172,173,175,176,178,179,184,185,186,187,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,207,208,209,210,211,212,215,216,219,220,221,223,224,225,226,227,228,229,230,231,232,233,234,235,236,237,239,240,241,244,245,246,247,248,252,253,257,258,259,260,261,262,263,264,265,268,269,270,273,274,275,276,277,278,279,280,284,285,286,287,288,291,292,295,296,299,300,303,304],dict_kei:[108,114,146],dictat:33,dictionari:[40,71,96,98,105,121,150,184,190,191,199,215,216,226,227,229,232,233,268],dictionri:[101,186,224],dicts_to_list:154,did:193,didn:163,diengin:[29,30],diff:[108,109,111,113,114,115,116,187,190,191,192,193,200,201,202,205,207,212,215,216,219,220,221,223,225,226,227,228,229,230,231,232,233,244],diff_shape_col:148,differ:[0,2,4,12,14,22,24,26,29,31,36,40,44,50,70,94,100,110,111,113,115,124,130,146,147,162,163,175,178,179,180,181,184,186,187,188,189,190,192,193,194,197,198,200,201,202,203,205,206,207,209,210,212,215,217,219,220,221,222,223,224,225,226,229,230,231,232,234,235,236,239,240,241,242,243,244,257,259,268,282,293,295,303,307],differenti:[22,38,123,125,130,134,140],differnec:[90,128,180],differnet:[100,197,198,239,240,241],difficult:[14,16,22,24,29,33,210,230,239,243,284],difficulti:[14,20,22,94,180,210,252,263,286,291,292],digraph:[305,306],dijob:[29,30],dilat:143,dile:152,dilemma:14,dilut:193,dim1:146,dim2:146,dim:[10,11,40,47,49,72,95,96,100,102,106,123,125,129,130,131,134,142,143,146,187,192,197,198,212,219,220,221,225,230,231,234,235,236,238,239,240,241,244,246,259,260,273,274],dim_observ:[257,258],dimens:[14,22,38,40,42,49,102,103,105,106,139,143,146,200,201,202,206,207,210,234,235,243,248,257,259,263,268,275,284,295],dimension:[12,14,22,24,38,40,42,180,186,197,201,206,210,248,252,263,265,268,275,277,286,289,291,293],dimensoin:38,dimitri:224,ding:[2,3,4,5,8,9,10,11,16,17,28,29,30,36,37,38,39,40,41,42,43,44,47,48,50,51,52,53,56,58,59,61,62,64,65,66,67,68,70,71,72,74,76,77,78,79,80,81,82,83,85,87,88,89,92,93,94,95,96,98,100,101,102,103,105,106,107,108,109,110,111,113,114,115,116,117,118,120,121,122,124,126,135,136,137,141,142,143,144,145,147,149,150,151,152,153,155,156,157,158,159,160,161,162,163,164,165,167,168,169,170,172,173,175,176,178,179,184,185,186,187,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,215,216,217,219,220,221,223,224,225,226,227,228,229,230,231,232,233,234,235,236,237,239,240,241,242,244,245,246,247,248,249,250,251,252,253,254,255,256,257,258,259,260,261,262,263,264,265,270,273,274,275,276,277,278,279,280,281,282,283,284,285,286,287,288,289,290,291,292,295,296,299,300,301,302,303,304,311,312],ding_env_wrapp:[40,41],ding_init:[4,5],dingenvwrapp:[2,3,4,5,10,11,42,43,250,251,254,255,281,282,283],dir:157,direcli:38,direct:[4,10,15,18,20,35,40,180,189,203,212,215,221,230,231,234,246,259,263,265,273,277,278,282,284,293],direct_print:157,directli:[2,10,16,22,24,26,29,40,42,44,56,89,111,124,150,157,175,178,180,184,193,194,197,203,205,206,210,212,226,235,246,247,248,249,252,253,254,259,260,261,262,273,274,275,276,277,278,279,281,282,284,285,286,287,289,290,291,293,294,299,303,311],directori:[2,8,10,56,76,80,175,178,232,233,250,254,257,258,259,265,275,279,280,282,295,296,299],dis_env:[284,285],disabl:[50,147,275],disadvantag:[29,180,209],disappear:234,disast:201,discard:124,disciplin:26,discount:[14,22,26,108,109,111,113,114,115,116,124,127,131,134,180,181,190,191,192,193,196,200,201,202,205,207,215,216,219,220,221,223,225,226,227,228,229,230,231,232,233,234,236,243,244,273,274],discount_:[111,115,116,190,191,200,201,202,205,207,215,216,219,220,221,226,227,229,230,231,232,233],discount_factor:[28,47,78,184,185,245,246,247,248,252,253,257,258,259,260,263,264,265,268,269,273,274,277,278,279,280,286,287,288],discoveri:[194,203],discret:[14,38,40,41,47,49,96,100,101,105,120,129,134,180,181,186,187,190,192,193,194,195,197,198,200,201,202,205,207,210,212,215,219,220,223,224,225,226,228,229,232,233,236,237,238,239,240,241,244,245,246,247,252,254,255,256,263,265,266,267,268,269,273,274,277,278,281,284,285,286,287,289,290,291,293],discrete_:120,discretehead:[38,39,97,200],discrimin:[199,206],discriminator_head_hidden_s:199,discriminator_head_layer_num:199,discuss:[72,180,224,311,312],disjoint:223,disk_help:158,dispers:[50,274],displai:[157,178,265,268,277,303,305,307,311],disrupt:36,dist:[131,186,235],dist_behaviour:212,dist_fin:154,dist_info:175,dist_init:[154,270],dist_mod:154,dist_nstep_td_data:131,dist_nstep_td_error:128,dist_t:[265,266],dist_target:212,distanc:[14,26,121,139,196,226,230,254,261,263,265,266,275,284],distibut:[205,232,233],distil:[14,15,113,210,211,221,223,230,231,234],distinct:[100,197,198,239,240,241],distinguish:[36,40,206,230,295,303],distort:113,distribut:[13,14,15,16,18,22,26,27,30,31,35,38,42,50,53,55,90,96,100,105,110,115,116,126,129,131,134,138,158,175,180,186,187,189,190,191,194,195,196,197,198,200,203,204,205,206,207,212,213,214,215,216,221,222,226,227,229,230,231,235,236,237,239,240,241,303,313],distributeddataparallel:270,distributedsampl:270,distributin:232,distributionhead:[38,39,97],disturb:[136,175],ditask:[29,30,35],ditk:[4,5],div:187,diverg:[187,194,223,224,232,235,237,238],divers:[12,13,14,15,20,26,50,199,212,230,234],diversifi:[203,204],divid:[14,16,22,29,56,147,150,210,234,259,275,299,303],divis:120,diyan:[14,15],dizoo:[2,3,4,5,10,11,28,35,40,41,44,47,49,52,178,179,184,185,232,233,245,246,247,248,249,250,251,252,253,254,255,256,257,258,259,260,261,262,263,264,265,266,268,269,270,273,274,275,276,277,278,279,280,281,282,283,284,285,286,287,288,289,290,291,292,293,294,295,296],dm:[263,264],dm_control:[259,260],dmc2gym:[38,39,271,272,313,314],dmc2gym_cartpole_bal:[259,260],dmc2gym_cartpole_balance_ddpg:[259,260],dmc2gym_cartpole_balance_ddpg_ev:[259,260],dmc2gym_env:[259,260],dmc2gymenv:[259,260],dmlab:229,doc:[10,11,47,80,95,96,98,100,105,143,165,167,178,179,187,197,198,201,212,229,236,239,240,241,268,271,311,312,313,314],docker:[6,7,246,247,248,249,257,258,259,260,263,264,267,273,274,275,276,279,280,284,285,288,289,290,291,292],dockerfil:35,dockerhub:[8,9],document:[0,2,4,10,26,29,38,42,47,150,180,184,254,261,263,265,282,301,305,311,312],dodgebal:[286,287],doe:[14,22,26,33,36,40,42,50,94,110,113,143,150,176,180,197,200,209,217,228,230,246,248,250,257,259,261,265,273,275,277,279,282,284,286,289,291,293,301,305],doesn:[192,201,207,224,275],dof:259,doi:[16,17,22,23,188,243],domain:[161,180,187,188,218,236,243,259,260],domain_nam:[259,260],don:[10,29,126,130,175,178,224,234,277,278],done:[4,5,14,36,38,40,41,42,49,53,58,71,72,79,94,107,108,109,110,111,113,114,115,124,131,143,178,179,180,187,194,195,196,197,198,200,201,202,207,212,219,220,221,229,230,231,232,235,236,238,239,240,241,246,247,248,249,257,258,259,260,261,262,263,264,267,268,269,273,274,277,278,279,280,286,287,288,289,290,291,292,293,294],done_n:47,donoghu:[26,27],dontprintsemicolon:238,door:277,doorkei:[210,211,277,278],doron:212,dot:[102,212,277],dota2:[12,13],dota:[12,13],doteq:224,doubl:[40,41,110,111,190,191,197,198,200,201,202,205,213,214,215,216,226,227,229,230,231,235,239,240,241,256],double_dqn:53,double_q:47,down:[16,17,26,49,149,194,244,246,247,256,259,263,268,269,273,275,281,286,287,293,294],downgrad:268,download:[4,5,8,9,257,258,261,279,280,291,292],downsampl:[143,242],dozen:281,dp:[180,181,270],dpg:[197,198],dq:200,dqfd:[16,36,37,213,230,231,273,274,313],dqfd_nstep_td_data:[230,231],dqfd_nstep_td_error_with_rescal:[230,231],dqfdpolici:200,dqn:[0,1,2,3,4,5,10,11,14,15,26,27,28,29,30,39,48,49,52,53,54,55,90,96,104,112,115,116,178,179,181,184,185,190,191,192,194,198,200,205,206,207,213,214,215,216,219,220,221,226,227,228,229,230,231,237,245,246,247,250,251,252,253,254,255,268,269,273,274,286,287,295,296,313,314],dqn_polici:52,dqnmultidiscretepolici:49,dqnpolici:[2,3,4,5,10,11,49,52,90,112,116,178,179,201,202,232,233,250,251,254,255],drac:223,drag:[146,305],dragan:[236,237],dramat:[201,218],drastic:210,draw:[10,93,187,237,238,313,314],drawback:29,drawn:[194,237,305],dream:[22,23],dreamer:[22,23],drew:[16,17],dribbl:263,dribbler:263,drift:[16,222,229],drive:[0,4,24,26,194,203,210,259,275],drive_env:[275,276],drive_wrapp:[275,276],driveenvwrapp:[275,276],driven:[14,15,26,27,194,195,20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Learning","\u79bb\u7ebf\u5f3a\u5316\u5b66\u4e60","\u914d\u7f6e\u6587\u4ef6\u7cfb\u7edf","Distributed","\u5206\u5e03\u5f0f","System Design","\u7cfb\u7edf\u8bbe\u8ba1","Middleware","\u4e2d\u95f4\u4ef6","\u9ad8\u6027\u80fdRPC\u6846\u67b6","Buffer User Guide","Buffer \u4f7f\u7528\u6307\u5357","How to customize the neural network model","\u5982\u4f55\u81ea\u5b9a\u4e49\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\uff08model\uff09","How to migrate your own environment to DI-engine","\u5982\u4f55\u5c06\u81ea\u5df1\u7684\u73af\u5883\u8fc1\u79fb\u5230DI-engine\u4e2d","Why do we need Env Wrapper","\u4e3a\u4ec0\u4e48\u9700\u8981 Env Wrapper","How to construct a data pipeline for Imitation Learning / Offline Training","Best Practice","\u6700\u4f73\u5b9e\u8df5","\u5982\u4f55\u6784\u5efa\u591a\u667a\u80fd\u4f53\u73af\u5883","\u5982\u4f55\u81ea\u5b9a\u4e49\u6a21\u578b Wrapper","\u591a\u91cd\u79bb\u6563\u52a8\u4f5c\u7a7a\u95f4\u793a\u4f8b","Random Seed","\u968f\u673a\u79cd\u5b50","\u6ce8\u518c\u5668\uff08registry\uff09","\u5982\u4f55\u4f7f\u7528 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RL","\u5f3a\u5316\u5b66\u4e60\u57fa\u7840\u6982\u5ff5\u4ecb\u7ecd","Learn From DI-zoo","\u4ece DI-zoo \u5f00\u59cb\u5b66\u4e60","A2C","ACER","AlphaGo","ATOC","C51","C51","CollaQ","COMA","CQL","CQL","D4PG","DDPG","DDPG","DIAYN","DQfD","DQN","DQN","EDAC","EDAC","FQF","GAIL","GTrXL","Guided Cost Learning","HER","ICM","ICM","IMPALA","RL Algorithms Cheat Sheet","\u5f3a\u5316\u5b66\u4e60\u7b97\u6cd5","IQN","IQN","MBPO","MCTS","MDQN","MDQN","NGU","PLR","PPG","PPO","QMIX","QRDQN","QRDQN","QTRAN","R2D2","R2D3","R2D3","Rainbow","Rainbow","RND","SAC","SQIL","SQL","SQN","TD3","TD3BC","TD3","TREX","VPN","WQMIX","Acrobot","Atari","Atari","BipedalWalker","BipedalWalker","BitFlip","BitFlip","Bsuite","Bsuite","Cartpole","Cartpole","Competitive RL","D4RL (MuJoCo)","D4RL (MuJoCo)","dmc2gym","dmc2gym","Evogym","Evogym","Google Research Football (Gfootball)","Google Research Football (Gfootball)","gym hybrid","Gym-Hybrid","Gym-Soccer (HFO)","Gym-Super-Mario-Bros","Gym-Super-Mario-Bros","Image Classification","RL Env Examples","\u5f3a\u5316\u5b66\u4e60\u73af\u5883\u793a\u4f8b","LunarLander","LunarLander","Metadrive","Metadrive","MiniGrid","MiniGrid","MuJoCo","MuJoCo","Overcooked","Pendulum","Pendulum","PettingZoo","PettingZoo","Procgen","Procgen","PyBullet","Slime Volleyball","Slime Volleyball","SMAC","SMAC","Sokoban","Sokoban","Specifications of DI-engine Config","DI-engine Config\u89c4\u8303","Specification","\u4ee3\u7801\u89c4\u8303","Middleware specification","\u4e2d\u95f4\u4ef6\u7f16\u5199\u89c4\u8303","Code Style Guide","\u4ee3\u7801\u98ce\u683c\u6307\u5357","Unit Test Guide","\u5355\u5143\u6d4b\u8bd5\u6307\u5357","Diagrams and Visualization","\u56fe\u50cf\u4e0e\u53ef\u89c6\u5316","Git Usage","Git \u4f7f\u7528","Github Cooperation","Github \u5408\u4f5c\u6a21\u5f0f","Github Usage","Github \u7684\u4f7f\u7528","Welcome to DI-engine\u2019s documentation!","\u6b22\u8fce\u6765\u5230 DI-engine 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