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104 lines
2.5 KiB
ReStructuredText
104 lines
2.5 KiB
ReStructuredText
.. _td3:
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.. automodule:: torchy_baselines.td3
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TD3
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===
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`Twin Delayed DDPG (TD3) <https://spinningup.openai.com/en/latest/algorithms/td3.html>`_ Addressing Function Approximation Error in Actor-Critic Methods.
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TD3 is a direct successor of DDPG and improves it using three major tricks: clipped double Q-Learning, delayed policy update and target policy smoothing.
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We recommend reading `OpenAI Spinning guide on TD3 <https://spinningup.openai.com/en/latest/algorithms/td3.html>`_ to learn more about those.
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.. warning::
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The TD3 model does not support ``torchy_baselines.common.policies`` because it uses double q-values
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estimation, as a result it must use its own policy models (see :ref:`td3_policies`).
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.. rubric:: Available Policies
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.. autosummary::
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:nosignatures:
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MlpPolicy
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Notes
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-----
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- Original paper: https://arxiv.org/pdf/1802.09477.pdf
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- OpenAI Spinning Guide for TD3: https://spinningup.openai.com/en/latest/algorithms/td3.html
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- Original Implementation: https://github.com/sfujim/TD3
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.. note::
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The default policies for TD3 differ a bit from others MlpPolicy: it uses ReLU instead of tanh activation,
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to match the original paper
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Can I use?
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----------
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- Recurrent policies: ❌
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- Multi processing: ❌
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- Gym spaces:
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============= ====== ===========
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Space Action Observation
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============= ====== ===========
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Discrete ❌ ❌
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Box ✔️ ✔️
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MultiDiscrete ❌ ❌
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MultiBinary ❌ ❌
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============= ====== ===========
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Example
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-------
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.. code-block:: python
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import numpy as np
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from torchy_baselines import TD3
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from torchy_baselines.td3.policies import MlpPolicy
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from torchy_baselines.common.noise import NormalActionNoise, OrnsteinUhlenbeckActionNoise
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# The noise objects for TD3
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n_actions = env.action_space.shape[-1]
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action_noise = NormalActionNoise(mean=np.zeros(n_actions), sigma=0.1 * np.ones(n_actions))
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model = TD3(MlpPolicy, 'Pendulum-v0', action_noise=action_noise, verbose=1)
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model.learn(total_timesteps=50000, log_interval=10)
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model.save("td3_pendulum")
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env = model.get_env()
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del model # remove to demonstrate saving and loading
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model = TD3.load("td3_pendulum")
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obs = env.reset()
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while True:
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action, _states = model.predict(obs)
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obs, rewards, dones, info = env.step(action)
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env.render()
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Parameters
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----------
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.. autoclass:: TD3
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:members:
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:inherited-members:
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.. _td3_policies:
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TD3 Policies
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-------------
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.. autoclass:: MlpPolicy
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:members:
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:inherited-members:
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