文章目录
本文是根据AWS 官方文档为主,自己理解加解析为辅的文章。
参考链接: link
奖励函数的形式
奖励函数名为reward_function
应该是不能修改的,入口参数params是一个字典类型
def reward_function(params):
'''
Example of rewarding the agent to follow center line
'''
# Read input parameters
track_width = params['track_width']
distance_from_center = params['distance_from_center']
# Calculate 3 markers that are at varying distances away from the center line
marker_1 = 0.1 * track_width
marker_2 = 0.25 * track_width
marker_3 = 0.5 * track_width
# Give higher reward if the car is closer to center line and vice versa
if distance_from_center <= marker_1:
reward = 1.0
elif distance_from_center <= marker_2:
reward = 0.5
elif distance_from_center <= marker_3:
reward = 0.1
else:
reward = 1e-3 # likely crashed/ close to off track
return float(reward)
入口参数params
params包含许多个参数,可选择合适的参数来设计奖励策略,使得代理能够获得更多的奖励值。本文章只做简单讲述,后面进阶和实战将会详细讲解。
参数列表入下:
{
"all_wheels_on_track": Boolean, # flag to indicate if the agent is on the track
"x": float, # agent's x-coordinate in meters
"y": float, # agent's y-coordinate in meters
"closest_objects": [int, int], # zero-based indices of the two closest objects to the agent's current position of (x, y).
"closest_waypoints": [int, int], # indices of the two nearest waypoints.
"distance_from_center": float, # distance in meters from the track center
"is_crashed": Boolean, # Boolean flag to indicate whether the agent has crashed.
"is_left_of_center": Boolean, # Flag to indicate if the agent is on the left side to the track center or not.
"is_offtrack": Boolean, # Boolean flag to indicate whether the agent has gone off track.
"is_reversed": Boolean, # flag to indicate if the agent is driving clockwise (True) or counter clockwise (False).
"heading": float, # agent's yaw in degrees
"objects_distance": [float, ], # list of the objects' distances in meters between 0 and track_length in relation to the starting line.
"objects_heading": [float, ], # list of the objects' headings in degrees between -180 and 180.
"objects_left_of_center": [Boolean, ], # list of Boolean flags indicating whether elements' objects are left of the center (True) or not (False).
"objects_location": [(float, float),], # list of object locations [(x,y), ...].
"objects_speed": [float, ], # list of the objects' speeds in meters per second.
"progress": float, # percentage of track completed
"speed": float, # agent's speed in meters per second (m/s)
"steering_angle": float, # agent's steering angle in degrees
"steps": int, # number steps completed
"track_length": float, # track length in meters.
"track_width": float, # width of the track
"waypoints": [(float, float), ] # list of (x,y) as milestones along the track center
}
all_wheels_on_track
类型:Boolean
范围:(True:False)
一个 Boolean 标记,指示代理是在赛道上还是偏离赛道。如果车辆的任一车轮位于赛道边界外,则将车辆视为偏离赛道 (False)。如果车辆的所有车轮都在两个赛道边界内,则将车辆视为在赛道上 (True)
。使用技巧: 在第一次模型中用来使小车能快速保证完成,即小车不出界
下图显示了代理在赛道上。
下图显示了代理偏离赛道。
示例代码: all_wheels_on_track
def reward_function(params):
#############################################################################
'''
Example of using all_wheels_on_track and speed
'''
# Read input variables
all_wheels_on_track = params['all_wheels_on_track']
speed = params['speed']
# Set the speed threshold based your action space
SPEED_THRESHOLD = 1.0
if not all_wheels_on_track:
# Penalize if the car goes off track #如果出界则惩罚
reward = 1e-3
elif speed < SPEED_THRESHOLD:
# Penalize if the car goes too slow
reward = 0.5
else:
# High reward if the car stays on track and goes fast
reward = 1.0
return float(reward)
closest_waypoints
Type: [int, int]这个参数在设计奖励函数中非常重要
范围:[(0:Max-1),(1:Max-1)]
最接近代理当前位置 (x, y) 的两个相邻 waypoint 的从零开始的索引。距离是根据与代理中心的欧氏距离来测量的。第一个元素指代理后面最近的路点,第二个元素指代理前面最近的路点。Max 是路点列表的长度。在waypoints的图示中,closest_waypoints 将为 [16, 17]。
示例:奖励函数closest_waypoints参数。
以下示例奖励函数演示如何使用 waypoints、closest_waypoints 和 heading 来计算即时奖励。
AWS DeepRacer 支持以下库:数学库、随机库、NumPy 库、SciPy 库和塑形库。要使用一个,请添加一个导入语句import supported library,在你的函数定义之上,def function_name(parameters)。
# Place import statement outside of function (supported libraries: math, random, numpy, scipy, and shapely)
# Example imports of available libraries
#
# import math
# import random
# import numpy
# import scipy
# import shapely
import math
def reward_function(params):
###############################################################################
'''
Example of using waypoints and heading to make the car point in the right direction
'''
# Read input variables
waypoints = params['waypoints']
closest_waypoints = params['closest_waypoints']
heading = params['heading']
# Initialize the reward with typical value
reward = 1.0
# Calculate the direction of the center line based on the closest waypoints
next_point = waypoints[closest_waypoints[1]]
prev_point = waypoints[closest_waypoints[0]]
# Calculate the direction in radius, arctan2(dy, dx), the result is (-pi, pi) in radians
track_direction = math.atan2(next_point[1] - prev_point[1], next_point[0] - prev_point[0])
# Convert to degree 将弧度转化为角度
track_direction = math.degrees(track_direction)
# Calculate the difference between the track direction and the heading direction of the car
direction_diff = abs(track_direction - heading)
if direction_diff > 180:
direction_diff = 360 - direction_diff
# Penalize the reward if the difference is too large
DIRECTION_THRESHOLD = 10.0
if direction_diff > DIRECTION_THRESHOLD:
reward *= 0.5
return float(reward)
closest_objects
Type: [int, int]凡是带有objects的变量都是在多人小车才会用到,个人计时赛中使用不上。
范围:[(0:len(object_locations)-1), (0:len(object_locations)-1]
最接近代理当前位置 (x, y) 的两个物体的从零开始的索引。第一个索引指代理后面最近的物体,第二个索引指代理前面最近的物体。如果只有一个物体,则两个索引都为 0。
distance_from_center
Type: float
范围:0:~track_width/2
代理中心和赛道中心之间的位移(以米为单位)。当代理的任一车轮位于赛道边界外时可观察到的最大位移,并且根据赛道边界的宽度,它可以略小于或大于 track_width 的一半。实战中时大于track_width的一半,要注意这里没有分是在赛道中心的左边还是右边,可通过结合is_left_of_center使用来判断实际位置是在左边还是右边,以及配合is_reversed判断是顺时针还是逆时针,这将非常有助于设计奖励函数。
示例: 奖励函数distance_from_center
该函数保证小车沿中线走的时候给的奖励值越多。
def reward_function(params):
#################################################################################
'''
Example of using distance from the center
'''
# Read input variable
track_width = params['track_width']
distance_from_center = params['distance_from_center']
# Penalize if the car is too far away from the center
marker_1 = 0.1 * track_width
marker_2 = 0.5 * track_width
if distance_from_center <= marker_1: #越靠近中线奖励越多
reward = 1.0
elif distance_from_center <= marker_2:
reward = 0.5
else:
reward = 1e-3 # likely crashed/ close to off track 出界或靠近赛道边缘将受到惩罚
return float(reward)
heading
Type: float
范围:-180:+180, 其中X轴上方为正,下方为负。使用技巧:用来结合最近两点之间的直线与x轴夹角进行比较,从而使小车沿着轨道线跑
代理相对于坐标系 x 轴的前进方向的夹角(以度为单位)。
is_crashed
Type: Boolean
范围:(True:False)
一个布尔标记,用于指示代理的最终状态是否为撞向另一个物体(True 或 False),这个参数在个人计时赛中用不上。
is_left_of_center
Type: Boolean
范围:[True : False]
一个 Boolean 标记,用于指示代理是位于赛道中心的左侧 (True) 还是右侧 (False)。该参数在简单地图中可用来使小车沿着外线高速跑,这在实战中非常有用,在实战赛道 [re:Invent 2018] 中,第一名就是沿着外沿切线高速过弯,从而取得较好成绩。
is_offtrack
Type: Boolean
范围:(True:False)
一个布尔标记,用于指示代理的最终状态是否为脱离赛道(True 或 False)。该参数可用来惩罚代理冲出赛道的行为
is_reversed
Type: Boolean
范围:[True:False]
一个布尔标记,用于指示代理是顺时针行驶 (True) 还是逆时针行驶 (False)。
此参数在您针对每个过程改变方向时使用。
progress
Type: float
范围:0:100
赛道完成百分比。
示例: 奖励函数progress
def reward_function(params):
#############################################################################
'''
Example of using rogress
'''
progress = params['progress']
# Initialize the reward with typical value
reward = 1.0
# 如果完成一圈赛道,给与奖励
if int(progress) == 100 :
reward += 10.0
return float(reward)
speed
Type: float
范围:[0.0,5.0]
观察到的代理速度,以米/秒 (m/s) 为单位。
steering_angle
Type: float
范围:-30:30
前轮与代理中心线之间的转向角(以度为单位)。负号 (-) 表示向右转向,正号 (+) 表示向左转向。代理中心线不一定与赛道中心线平行
,如下图所示。
示例: 奖励函数steering_angle
def reward_function(params):
'''
Example of using steering angle
'''
# Read input variable
abs_steering = abs(params['steering_angle']) # We don't care whether it is left or right steering # 我们不关注他是在左边还是右边
# Initialize the reward with typical value
reward = 1.0
# Penalize if car steer too much to prevent zigzag # 如果角度转的太大给与惩罚
ABS_STEERING_THRESHOLD = 20.0
if abs_steering > ABS_STEERING_THRESHOLD:
reward *= 0.8
return float(reward)
steps
Type: int
范围:0:N steps这个是非常重要的参数,可以用来防止代理走Z型路线,以及可以用来奖励加速,这个参数将在实战中重点讲解。
完成的步骤数。步骤对应于代理按照当前策略所采取的操作。
示例: 奖励函数steps
def reward_function(params):
#############################################################################
'''
Example of using steps and progress
'''
# Read input variable
steps = params['steps']
progress = params['progress']
# Total num of steps we want the car to finish the lap, it will vary depends on the track length
TOTAL_NUM_STEPS = 300
# Initialize the reward with typical value
reward = 1.0
# Give additional reward if the car pass every 100 steps faster than expected
if (steps % 100) == 0 and progress > (steps / TOTAL_NUM_STEPS) * 100 :
reward += 10.0
return float(reward)
track_length
Type: float
范围:[0:Lmax]
赛道长度(以米为单位)。Lmax is track-dependent. Lmax是一个定值,取决于赛道本身,例如re:Invent 2018
赛道长为: 17.71
mThe 2019 DeepRacer Championship Cup
赛道长为: 23.12
m
track_width
Type: float
范围:0:D track
赛道宽度(以米为单位),赛道宽度不是固定的,实战中发现赛道在不同点是不一样的。
示例: 奖励函数track_widthparameter
def reward_function(params):
#############################################################################
'''
Example of using track width
'''
# Read input variable
track_width = params['track_width']
distance_from_center = params['distance_from_center']
# Calculate the distance from each border
distance_from_border = 0.5 * track_width - distance_from_center
# Reward higher if the car stays inside the track borders
if distance_from_border >= 0.05:
reward = 1.0
else:
reward = 1e-3 # Low reward if too close to the border or goes off the track
return float(reward)
x, y
Type: float
范围:0:N
包含赛道的模拟环境的沿 x 和 y 轴的代理中心位置(以米为单位)。原点位于模拟环境的左下角。
waypoints
类型:[float, float] 的 list
范围:[[xw,0,yw,0] … [xw,Max-1, yw,Max-1]]
沿赛道中心排列、取决于赛道的 Max 里程的有序列表。每个里程碑均由 (xw,i, yw,i)。对于环形赛道,第一个路径点与最后一个路径点相同。对于直道和其他非环形赛道,第一个路径点与最后一个路径点不同。
总结
灵活运用给定的参数能够使的代理快速完成赛道,这些是每个参数的基础介绍,想要使得一个策略能够快速收敛,需要组合使用这些参数,以及使用超参
技巧,下一篇文章将会讲解每个超参的作用。