collect_data.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import random\n",
    "import gym\n",
    "import numpy as np\n",
    "import collections\n",
    "from tqdm import tqdm\n",
    "import torch\n",
    "import torch.nn.functional as F\n",
    "import matplotlib.pyplot as plt\n",
    "import rl_utils\n",
    "import copy"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "class PolicyNet(torch.nn.Module):\n",
    "    def __init__(self, state_dim, hidden_dim, action_dim):\n",
    "        super(PolicyNet, self).__init__()\n",
    "        self.fc1 = torch.nn.Linear(state_dim, hidden_dim)\n",
    "        self.fc2 = torch.nn.Linear(hidden_dim, action_dim)\n",
    "\n",
    "    def forward(self, x):\n",
    "        x = F.relu(self.fc1(x))\n",
    "        return F.softmax(self.fc2(x), dim=1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "class ValueNet(torch.nn.Module):\n",
    "    def __init__(self, state_dim, hidden_dim):\n",
    "        super(ValueNet, self).__init__()\n",
    "        self.fc1 = torch.nn.Linear(state_dim, hidden_dim)\n",
    "        self.fc2 = torch.nn.Linear(hidden_dim, 1)\n",
    "\n",
    "    def forward(self, x):\n",
    "        x = F.relu(self.fc1(x))\n",
    "        return self.fc2(x)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "class ActorCritic:\n",
    "    def __init__(self, state_dim, hidden_dim, action_dim, actor_lr, critic_lr,\n",
    "                 gamma, device):\n",
    "        # 策略网络\n",
    "        self.actor = PolicyNet(state_dim, hidden_dim, action_dim).to(device)\n",
    "        self.critic = ValueNet(state_dim, hidden_dim).to(device)  # 价值网络\n",
    "        # 策略网络优化器\n",
    "        self.actor_optimizer = torch.optim.Adam(self.actor.parameters(),\n",
    "                                                lr=actor_lr)\n",
    "        self.critic_optimizer = torch.optim.Adam(self.critic.parameters(),\n",
    "                                                 lr=critic_lr)  # 价值网络优化器\n",
    "        self.gamma = gamma\n",
    "        self.device = device\n",
    "\n",
    "    def take_action(self, state):\n",
    "        state = torch.tensor([state], dtype=torch.float).to(self.device)\n",
    "        probs = self.actor(state)\n",
    "        action_dist = torch.distributions.Categorical(probs)\n",
    "        action = action_dist.sample()\n",
    "        return action.item(),probs[0].tolist()\n",
    "\n",
    "    def update(self, transition_dict):\n",
    "        states = torch.tensor(transition_dict['states'],\n",
    "                              dtype=torch.float).to(self.device)\n",
    "        actions = torch.tensor(transition_dict['actions']).view(-1, 1).to(\n",
    "            self.device)\n",
    "        rewards = torch.tensor(transition_dict['rewards'],\n",
    "                               dtype=torch.float).view(-1, 1).to(self.device)\n",
    "        next_states = torch.tensor(transition_dict['next_states'],\n",
    "                                   dtype=torch.float).to(self.device)\n",
    "        dones = torch.tensor(transition_dict['dones'],\n",
    "                             dtype=torch.float).view(-1, 1).to(self.device)\n",
    "\n",
    "        # 时序差分目标\n",
    "        td_target = rewards + self.gamma * self.critic(next_states) * (1 -\n",
    "                                                                       dones)\n",
    "        td_delta = td_target - self.critic(states)  # 时序差分误差\n",
    "        log_probs = torch.log(self.actor(states).gather(1, actions))\n",
    "        actor_loss = torch.mean(-log_probs * td_delta.detach())\n",
    "        # 均方误差损失函数\n",
    "        critic_loss = torch.mean(\n",
    "            F.mse_loss(self.critic(states), td_target.detach()))\n",
    "        self.actor_optimizer.zero_grad()\n",
    "        self.critic_optimizer.zero_grad()\n",
    "        actor_loss.backward()  # 计算策略网络的梯度\n",
    "        critic_loss.backward()  # 计算价值网络的梯度\n",
    "        self.actor_optimizer.step()  # 更新策略网络的参数\n",
    "        self.critic_optimizer.step()  # 更新价值网络的参数"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "class ReplayBuffer:\n",
    "    ''' 经验回放池 '''\n",
    "    def __init__(self, capacity):\n",
    "        self.buffer = collections.deque(maxlen=capacity)  # 队列,先进先出\n",
    "\n",
    "    def add(self, state, action, reward, next_state, done):  # 将数据加入buffer\n",
    "        self.buffer.append((state, action, reward, next_state, done))\n",
    "\n",
    "    def sample(self, batch_size):  # 从buffer中采样数据,数量为batch_size\n",
    "        transitions = random.sample(self.buffer, batch_size)\n",
    "        state, action, reward, next_state, done = zip(*transitions)\n",
    "        return np.array(state), action, reward, np.array(next_state), done\n",
    "\n",
    "    def size(self):  # 目前buffer中数据的数量\n",
    "        return len(self.buffer)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "class Qnet(torch.nn.Module):\n",
    "    ''' 只有一层隐藏层的Q网络 '''\n",
    "    def __init__(self, state_dim, hidden_dim, action_dim):\n",
    "        super(Qnet, self).__init__()\n",
    "        self.fc1 = torch.nn.Linear(state_dim, hidden_dim)\n",
    "        self.fc2 = torch.nn.Linear(hidden_dim, action_dim)\n",
    "\n",
    "    def forward(self, x):\n",
    "        x = F.relu(self.fc1(x))  # 隐藏层使用ReLU激活函数\n",
    "        # x = torch.softmax(x,dim=1)\n",
    "        return self.fc2(x)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "class DQN:\n",
    "    ''' DQN算法 '''\n",
    "    def __init__(self, state_dim, hidden_dim, action_dim, learning_rate, gamma,\n",
    "                 epsilon, target_update, device):\n",
    "        self.action_dim = action_dim\n",
    "        self.q_net = Qnet(state_dim, hidden_dim,\n",
    "                          self.action_dim).to(device)  # Q网络\n",
    "        # 目标网络\n",
    "        self.target_q_net = Qnet(state_dim, hidden_dim,\n",
    "                                 self.action_dim).to(device)\n",
    "        # 使用Adam优化器\n",
    "        self.optimizer = torch.optim.Adam(self.q_net.parameters(),\n",
    "                                          lr=learning_rate)\n",
    "        self.gamma = gamma  # 折扣因子\n",
    "        self.epsilon = epsilon  # epsilon-贪婪策略\n",
    "        self.target_update = target_update  # 目标网络更新频率\n",
    "        self.count = 0  # 计数器,记录更新次数\n",
    "        self.device = device\n",
    "\n",
    "    def take_action(self, state):  # epsilon-贪婪策略采取动作\n",
    "        if np.random.random() < self.epsilon:\n",
    "            # action = np.random.randint(self.action_dim)\n",
    "            action2 = np.random.random(2)\n",
    "            action = action2.argmax()\n",
    "        else:\n",
    "            state = torch.tensor([state], dtype=torch.float).to(self.device)\n",
    "            action = self.q_net(state).argmax().item()\n",
    "            action2 =self.q_net(state)[0].tolist()\n",
    "        return action,action2\n",
    "\n",
    "    def update(self, transition_dict):\n",
    "        states = torch.tensor(transition_dict['states'],\n",
    "                              dtype=torch.float).to(self.device)\n",
    "        actions = torch.tensor(transition_dict['actions']).view(-1, 1).to(\n",
    "            self.device)\n",
    "        rewards = torch.tensor(transition_dict['rewards'],\n",
    "                               dtype=torch.float).view(-1, 1).to(self.device)\n",
    "        next_states = torch.tensor(transition_dict['next_states'],\n",
    "                                   dtype=torch.float).to(self.device)\n",
    "        dones = torch.tensor(transition_dict['dones'],\n",
    "                             dtype=torch.float).view(-1, 1).to(self.device)\n",
    "\n",
    "        q_values = self.q_net(states).gather(1, actions)  # Q值\n",
    "        # 下个状态的最大Q值\n",
    "        max_next_q_values = self.target_q_net(next_states).max(1)[0].view(\n",
    "            -1, 1)\n",
    "        q_targets = rewards + self.gamma * max_next_q_values * (1 - dones\n",
    "                                                                )  # TD误差目标\n",
    "        dqn_loss = torch.mean(F.mse_loss(q_values, q_targets))  # 均方误差损失函数\n",
    "        self.optimizer.zero_grad()  # PyTorch中默认梯度会累积,这里需要显式将梯度置为0\n",
    "        dqn_loss.backward()  # 反向传播更新参数\n",
    "        self.optimizer.step()\n",
    "\n",
    "        if self.count % self.target_update == 0:\n",
    "            self.target_q_net.load_state_dict(\n",
    "                self.q_net.state_dict())  # 更新目标网络\n",
    "        self.count += 1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "e:\\anaconda3\\envs\\study\\Lib\\site-packages\\gym\\envs\\registration.py:555: UserWarning: \u001b[33mWARN: The environment CartPole-v0 is out of date. You should consider upgrading to version `v1`.\u001b[0m\n",
      "  logger.warn(\n",
      "Iteration 0:   0%|          | 0/50 [00:00<?, ?it/s]C:\\Users\\Zorian\\AppData\\Local\\Temp\\ipykernel_7548\\1164427980.py:16: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at C:\\cb\\pytorch_1000000000000\\work\\torch\\csrc\\utils\\tensor_new.cpp:248.)\n",
      "  state = torch.tensor([state], dtype=torch.float).to(self.device)\n",
      "e:\\anaconda3\\envs\\study\\Lib\\site-packages\\gym\\utils\\passive_env_checker.py:233: DeprecationWarning: `np.bool8` is a deprecated alias for `np.bool_`.  (Deprecated NumPy 1.24)\n",
      "  if not isinstance(terminated, (bool, np.bool8)):\n",
      "Iteration 0:  84%|████████▍ | 42/50 [00:04<00:00,  9.25it/s, episode=40, return=19.100]\n"
     ]
    },
    {
     "ename": "ValueError",
     "evalue": "Expected parameter probs (Tensor of shape (1, 2)) of distribution Categorical(probs: torch.Size([1, 2])) to satisfy the constraint Simplex(), but found invalid values:\ntensor([[nan, nan]], device='cuda:0', grad_fn=<DivBackward0>)",
     "output_type": "error",
     "traceback": [
      "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[1;31mValueError\u001b[0m                                Traceback (most recent call last)",
      "\u001b[1;32me:\\work\\code\\diffusion\\collect_data.ipynb 单元格 9\u001b[0m line \u001b[0;36m4\n\u001b[0;32m     <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=37'>38</a>\u001b[0m done \u001b[39m=\u001b[39m \u001b[39mFalse\u001b[39;00m\n\u001b[0;32m     <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=38'>39</a>\u001b[0m \u001b[39mwhile\u001b[39;00m \u001b[39mnot\u001b[39;00m done:\n\u001b[1;32m---> <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=39'>40</a>\u001b[0m     action,action2 \u001b[39m=\u001b[39m agent\u001b[39m.\u001b[39;49mtake_action(state)\n\u001b[0;32m     <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=40'>41</a>\u001b[0m     \u001b[39m# print(action2)\u001b[39;00m\n\u001b[0;32m     <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=41'>42</a>\u001b[0m     \u001b[39m# print(action)\u001b[39;00m\n\u001b[0;32m     <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=42'>43</a>\u001b[0m     \u001b[39m# env.step(action)\u001b[39;00m\n\u001b[0;32m     <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=43'>44</a>\u001b[0m     next_state, reward, done, _,_ \u001b[39m=\u001b[39m env\u001b[39m.\u001b[39mstep(action)\n",
      "\u001b[1;32me:\\work\\code\\diffusion\\collect_data.ipynb 单元格 9\u001b[0m line \u001b[0;36m1\n\u001b[0;32m     <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=15'>16</a>\u001b[0m state \u001b[39m=\u001b[39m torch\u001b[39m.\u001b[39mtensor([state], dtype\u001b[39m=\u001b[39mtorch\u001b[39m.\u001b[39mfloat)\u001b[39m.\u001b[39mto(\u001b[39mself\u001b[39m\u001b[39m.\u001b[39mdevice)\n\u001b[0;32m     <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=16'>17</a>\u001b[0m probs \u001b[39m=\u001b[39m \u001b[39mself\u001b[39m\u001b[39m.\u001b[39mactor(state)\n\u001b[1;32m---> <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=17'>18</a>\u001b[0m action_dist \u001b[39m=\u001b[39m torch\u001b[39m.\u001b[39;49mdistributions\u001b[39m.\u001b[39;49mCategorical(probs)\n\u001b[0;32m     <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=18'>19</a>\u001b[0m action \u001b[39m=\u001b[39m action_dist\u001b[39m.\u001b[39msample()\n\u001b[0;32m     <a href='vscode-notebook-cell:/e%3A/work/code/diffusion/collect_data.ipynb#W4sZmlsZQ%3D%3D?line=19'>20</a>\u001b[0m \u001b[39mreturn\u001b[39;00m action\u001b[39m.\u001b[39mitem(),probs[\u001b[39m0\u001b[39m]\u001b[39m.\u001b[39mtolist()\n",
      "File \u001b[1;32me:\\anaconda3\\envs\\study\\Lib\\site-packages\\torch\\distributions\\categorical.py:66\u001b[0m, in \u001b[0;36mCategorical.__init__\u001b[1;34m(self, probs, logits, validate_args)\u001b[0m\n\u001b[0;32m     64\u001b[0m \u001b[39mself\u001b[39m\u001b[39m.\u001b[39m_num_events \u001b[39m=\u001b[39m \u001b[39mself\u001b[39m\u001b[39m.\u001b[39m_param\u001b[39m.\u001b[39msize()[\u001b[39m-\u001b[39m\u001b[39m1\u001b[39m]\n\u001b[0;32m     65\u001b[0m batch_shape \u001b[39m=\u001b[39m \u001b[39mself\u001b[39m\u001b[39m.\u001b[39m_param\u001b[39m.\u001b[39msize()[:\u001b[39m-\u001b[39m\u001b[39m1\u001b[39m] \u001b[39mif\u001b[39;00m \u001b[39mself\u001b[39m\u001b[39m.\u001b[39m_param\u001b[39m.\u001b[39mndimension() \u001b[39m>\u001b[39m \u001b[39m1\u001b[39m \u001b[39melse\u001b[39;00m torch\u001b[39m.\u001b[39mSize()\n\u001b[1;32m---> 66\u001b[0m \u001b[39msuper\u001b[39;49m()\u001b[39m.\u001b[39;49m\u001b[39m__init__\u001b[39;49m(batch_shape, validate_args\u001b[39m=\u001b[39;49mvalidate_args)\n",
      "File \u001b[1;32me:\\anaconda3\\envs\\study\\Lib\\site-packages\\torch\\distributions\\distribution.py:62\u001b[0m, in \u001b[0;36mDistribution.__init__\u001b[1;34m(self, batch_shape, event_shape, validate_args)\u001b[0m\n\u001b[0;32m     60\u001b[0m         valid \u001b[39m=\u001b[39m constraint\u001b[39m.\u001b[39mcheck(value)\n\u001b[0;32m     61\u001b[0m         \u001b[39mif\u001b[39;00m \u001b[39mnot\u001b[39;00m valid\u001b[39m.\u001b[39mall():\n\u001b[1;32m---> 62\u001b[0m             \u001b[39mraise\u001b[39;00m \u001b[39mValueError\u001b[39;00m(\n\u001b[0;32m     63\u001b[0m                 \u001b[39mf\u001b[39m\u001b[39m\"\u001b[39m\u001b[39mExpected parameter \u001b[39m\u001b[39m{\u001b[39;00mparam\u001b[39m}\u001b[39;00m\u001b[39m \u001b[39m\u001b[39m\"\u001b[39m\n\u001b[0;32m     64\u001b[0m                 \u001b[39mf\u001b[39m\u001b[39m\"\u001b[39m\u001b[39m(\u001b[39m\u001b[39m{\u001b[39;00m\u001b[39mtype\u001b[39m(value)\u001b[39m.\u001b[39m\u001b[39m__name__\u001b[39m\u001b[39m}\u001b[39;00m\u001b[39m of shape \u001b[39m\u001b[39m{\u001b[39;00m\u001b[39mtuple\u001b[39m(value\u001b[39m.\u001b[39mshape)\u001b[39m}\u001b[39;00m\u001b[39m) \u001b[39m\u001b[39m\"\u001b[39m\n\u001b[0;32m     65\u001b[0m                 \u001b[39mf\u001b[39m\u001b[39m\"\u001b[39m\u001b[39mof distribution \u001b[39m\u001b[39m{\u001b[39;00m\u001b[39mrepr\u001b[39m(\u001b[39mself\u001b[39m)\u001b[39m}\u001b[39;00m\u001b[39m \u001b[39m\u001b[39m\"\u001b[39m\n\u001b[0;32m     66\u001b[0m                 \u001b[39mf\u001b[39m\u001b[39m\"\u001b[39m\u001b[39mto satisfy the constraint \u001b[39m\u001b[39m{\u001b[39;00m\u001b[39mrepr\u001b[39m(constraint)\u001b[39m}\u001b[39;00m\u001b[39m, \u001b[39m\u001b[39m\"\u001b[39m\n\u001b[0;32m     67\u001b[0m                 \u001b[39mf\u001b[39m\u001b[39m\"\u001b[39m\u001b[39mbut found invalid values:\u001b[39m\u001b[39m\\n\u001b[39;00m\u001b[39m{\u001b[39;00mvalue\u001b[39m}\u001b[39;00m\u001b[39m\"\u001b[39m\n\u001b[0;32m     68\u001b[0m             )\n\u001b[0;32m     69\u001b[0m \u001b[39msuper\u001b[39m()\u001b[39m.\u001b[39m\u001b[39m__init__\u001b[39m()\n",
      "\u001b[1;31mValueError\u001b[0m: Expected parameter probs (Tensor of shape (1, 2)) of distribution Categorical(probs: torch.Size([1, 2])) to satisfy the constraint Simplex(), but found invalid values:\ntensor([[nan, nan]], device='cuda:0', grad_fn=<DivBackward0>)"
     ]
    }
   ],
   "source": [
    "lr = 2e-3\n",
    "actor_lr = 1e-3\n",
    "critic_lr = 1e-2\n",
    "num_episodes = 500\n",
    "hidden_dim = 128\n",
    "gamma = 0.98\n",
    "epsilon = 0.01\n",
    "target_update = 10\n",
    "buffer_size = 10000\n",
    "minimal_size = 500\n",
    "batch_size = 64\n",
    "device = torch.device(\"cuda\") if torch.cuda.is_available() else torch.device(\n",
    "    \"cpu\")\n",
    "\n",
    "env_name = 'CartPole-v0'\n",
    "env = gym.make(env_name)\n",
    "random.seed(0)\n",
    "np.random.seed(0)\n",
    "# env.seed(0)\n",
    "torch.manual_seed(0)\n",
    "replay_buffer = ReplayBuffer(buffer_size)\n",
    "state_dim = env.observation_space.shape[0]\n",
    "# print(state_dim)\n",
    "action_dim = env.action_space.n\n",
    "# print(action_dim)\n",
    "# agent = DQN(state_dim, hidden_dim, action_dim, lr, gamma, epsilon,\n",
    "#             target_update, device)\n",
    "agent = ActorCritic(state_dim, hidden_dim, action_dim, actor_lr, critic_lr,\n",
    "                    gamma, device)\n",
    "\n",
    "return_list = []\n",
    "for i in range(10):\n",
    "    with tqdm(total=int(num_episodes / 10), desc='Iteration %d' % i) as pbar:\n",
    "        for i_episode in range(int(num_episodes / 10)):\n",
    "            episode_return = 0\n",
    "            state = env.reset()[0]\n",
    "            # print(state)\n",
    "            done = False\n",
    "            transition_dict = {'states': [], 'actions': [], 'next_states': [], 'rewards': [], 'dones': []}\n",
    "            while not done:\n",
    "                action,action2 = agent.take_action(state)\n",
    "                # print(action2)\n",
    "                # print(action)\n",
    "                # env.step(action)\n",
    "                next_state, reward, done, _,_ = env.step(action)\n",
    "                transition_dict['states'].append(state)\n",
    "                transition_dict['actions'].append(action)\n",
    "                transition_dict['next_states'].append(next_state)\n",
    "                transition_dict['rewards'].append(reward)\n",
    "                transition_dict['dones'].append(done)\n",
    "                # print(next_state, reward, done)\n",
    "                # print(next_state)\n",
    "                # next_state = next_state[0]\n",
    "                # replay_buffer.add(state, action, reward, next_state, done)\n",
    "                \n",
    "                state = next_state\n",
    "                episode_return += reward\n",
    "                # 当buffer数据的数量超过一定值后,才进行Q网络训练\n",
    "                # if replay_buffer.size() > minimal_size:\n",
    "                #     b_s, b_a, b_r, b_ns, b_d = replay_buffer.sample(batch_size)\n",
    "                #     transition_dict = {\n",
    "                #         'states': b_s,\n",
    "                #         'actions': b_a,\n",
    "                #         'next_states': b_ns,\n",
    "                #         'rewards': b_r,\n",
    "                #         'dones': b_d\n",
    "                #     }\n",
    "            agent.update(transition_dict)\n",
    "            return_list.append(episode_return)\n",
    "            if (i_episode + 1) % 10 == 0:\n",
    "                pbar.set_postfix({\n",
    "                    'episode':\n",
    "                    '%d' % (num_episodes / 10 * i + i_episode + 1),\n",
    "                    'return':\n",
    "                    '%.3f' % np.mean(return_list[-10:])\n",
    "                })\n",
    "            pbar.update(1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
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      "[55.424537658691406, 55.40910720825195]\n",
      "[55.330909729003906, 55.45122528076172]\n",
      "200.0\n"
     ]
    }
   ],
   "source": [
    "import pickle \n",
    "\n",
    "from copy import copy\n",
    "data = []\n",
    "observations = []\n",
    "actions = []\n",
    "rewards = []\n",
    "dones = []\n",
    "next_observations = []\n",
    "\n",
    "for episode in range(50):\n",
    "    observations = []\n",
    "    actions = []\n",
    "    rewards = []\n",
    "    dones = []\n",
    "    next_observations = []\n",
    "    state = env.reset()[0]\n",
    "    done = False\n",
    "    rs = 0\n",
    "    for step in range(200):\n",
    "        # env.render()\n",
    "        tmp_state = copy(state)\n",
    "        action,action2 = agent.take_action(state)\n",
    "        next_state, reward, done, _,_ = env.step(action)\n",
    "\n",
    "        observations.append(state)\n",
    "        actions.append(action2)\n",
    "        print(action2)\n",
    "\n",
    "        # if action == 0:\n",
    "        #     actions.append([1, 0])\n",
    "        # else:\n",
    "        #     actions.append([0, 1])\n",
    "        rewards.append([reward])\n",
    "        dones.append([done])\n",
    "        next_observations.append(next_state)\n",
    "        rs+=reward\n",
    "\n",
    "        state = next_state\n",
    "        if done:\n",
    "            break\n",
    "    print(rs)\n",
    "    data.append({\n",
    "        'observations': observations,\n",
    "        'actions': actions,\n",
    "        'rewards': rewards,\n",
    "        'dones': dones,\n",
    "        'next_observations': next_observations\n",
    "    })\n",
    "\n",
    "    #     one_date.append(tmp_state)\n",
    "    # data.append(one_date)\n",
    "env.close()\n",
    "# data['observations'] = observations\n",
    "# data['actions'] = actions\n",
    "# data['rewards'] = rewards\n",
    "# data['dones'] = dones\n",
    "# data['next_observations'] = next_observations\n",
    "with open('data.pkl', 'wb') as f:\n",
    "    pickle.dump(data, f)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[56.154075622558594, 55.94548034667969]"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "data[0]['actions'][0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# [\n",
    "#     {\n",
    "#         \"observations\": [[], [], [], [], [], [], [], [], [], []],\n",
    "#         \"actions\": [[], [], [], [], [], [], [], [], [], []],\n",
    "#         \"rewards\": [[], [], [], [], [], [], [], [], [], []],\n",
    "#         \"dones\": [[], [], [], [], [], [], [], [], [], []],\n",
    "#         \"next_observations\": [[], [], [], [], [], [], [], [], [], []]\n",
    "#     },\n",
    "#     {\n",
    "\n",
    "#     },\n",
    "#     {\n",
    "\n",
    "#     },\n",
    "# ]\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# [[],[],[],[]]"
   ]
  }
 ],
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