基于tensorflow的躲避障碍物的ai训练

import pygameimport randomfrom pygame.locals import *import numpy as npfrom collections import dequeimport tensorflow as tf  # http://blog.topspeedsnail.com/archives/10116import cv2  # http://blog.topspeedsnail.com/archives/4755score = 0BLACK = (0, 0, 0)WHITE = (255, 255, 255)

SCREEN_SIZE = [320, 400]BAR_SIZE = [100, 5]BALL_SIZE = [20, 20]

# 神经网络的输出MOVE_STAY = [1, 0, 0]MOVE_LEFT = [0, 1, 0]MOVE_RIGHT = [0, 0, 1]

class Game(object):    def __init__(self):        pygame.init()        self.clock = pygame.time.Clock()        self.screen = pygame.display.set_mode(SCREEN_SIZE)        pygame.display.set_caption(‘Simple Game‘)

        self.ball_pos_x = SCREEN_SIZE[0] // 2 - BALL_SIZE[0] / 2        self.ball_pos_y = SCREEN_SIZE[1] // 2 - BALL_SIZE[1] / 2

        self.ball_dir_x = -1  # -1 = left 1 = right        self.ball_dir_y = -1  # -1 = up   1 = down        self.ball_pos = pygame.Rect(self.ball_pos_x, self.ball_pos_y, BALL_SIZE[0], BALL_SIZE[1])

        self.bar_pos_x = SCREEN_SIZE[0] // 2 - BAR_SIZE[0] // 2        self.bar_pos = pygame.Rect(self.bar_pos_x, SCREEN_SIZE[1] - BAR_SIZE[1], BAR_SIZE[0], BAR_SIZE[1])

        self.ball2_pos_x = SCREEN_SIZE[0] // 2 - BALL_SIZE[0] / 2        self.ball2_pos_y = SCREEN_SIZE[1] // 2 - BALL_SIZE[1] / 2

        self.ball2_dir_x = -1  # -1 = left 1 = right        self.ball2_dir_y = -1  # -1 = up   1 = down        self.ball2_pos = pygame.Rect(self.ball2_pos_x, self.ball2_pos_y, BALL_SIZE[0], BALL_SIZE[1])

    # action是MOVE_STAY、MOVE_LEFT、MOVE_RIGHT    # ai控制棒子左右移动；返回游戏界面像素数和对应的奖励。(像素->奖励->强化棒子往奖励高的方向移动)    def step(self, action):

        if action == MOVE_LEFT:            self.bar_pos_x = self.bar_pos_x - 2        elif action == MOVE_RIGHT:            self.bar_pos_x = self.bar_pos_x + 2        else:            pass        if self.bar_pos_x < 0:            self.bar_pos_x = 0        if self.bar_pos_x > SCREEN_SIZE[0] - BAR_SIZE[0]:            self.bar_pos_x = SCREEN_SIZE[0] - BAR_SIZE[0]

        self.screen.fill(BLACK)        self.bar_pos.left = self.bar_pos_x        pygame.draw.rect(self.screen, WHITE, self.bar_pos)

        # if random.randint(0, 2) < 1:        #     self.ball_pos.left += self.ball_dir_x * random.randint(2, 10)        # else:        #     self.ball2_pos.left -= self.ball2_dir_x * random.randint(2, 10)        self.ball_pos.left += self.ball_dir_x * random.randint(2, 10)        self.ball_pos.bottom += self.ball_dir_y * random.randint(2, 10)        # if self.ball_pos.left < 0:        #     self.ball_pos.left = 1        #        # if self.ball_pos.left > 320:        #     self.ball_pos.left = 305        pygame.draw.rect(self.screen, WHITE, self.ball_pos)

        if self.ball_pos.top <= 0 or self.ball_pos.bottom >= (SCREEN_SIZE[1] - BAR_SIZE[1] + 1):            self.ball_dir_y = self.ball_dir_y * -1        if self.ball_pos.left <= 0 or self.ball_pos.right >= (SCREEN_SIZE[0]):            self.ball_dir_x = self.ball_dir_x * -1

        # if random.randint(0, 2) < 1:        #     self.ball2_pos.left += self.ball2_dir_x * random.randint(2, 10)        # else:        #     self.ball2_pos.left -= self.ball2_dir_x * random.randint(2, 10)        self.ball2_pos.left += self.ball2_dir_x * random.randint(2, 10)        self.ball2_pos.bottom += self.ball2_dir_y * random.randint(2, 10)

        # if self.ball2_pos.left < 0:        #     self.ball2_pos.left = 1        # if self.ball2_pos.left > 320:        #     self.ball2_pos.left = 305

        pygame.draw.rect(self.screen, WHITE, self.ball2_pos)

        if self.ball2_pos.top <= 0 or self.ball2_pos.bottom >= (SCREEN_SIZE[1] - BAR_SIZE[1] + 1):            self.ball2_dir_y = self.ball2_dir_y * -1        if self.ball2_pos.left <= 0 or self.ball2_pos.right >= (SCREEN_SIZE[0]):            self.ball2_dir_x = self.ball2_dir_x * -1

        reward = 0

        if (self.bar_pos.top <= self.ball_pos.bottom and (self.bar_pos.left < self.ball_pos.right and self.bar_pos.right > self.ball_pos.left)) or (self.bar_pos.top <= self.ball2_pos.bottom and (self.bar_pos.left < self.ball2_pos.right and self.bar_pos.right > self.ball2_pos.left)) :            reward = - 10  # 击中惩罚            score = +1            print(score)        elif self.bar_pos.top <= self.ball_pos.bottom and (                self.bar_pos.left > self.ball_pos.right or self.bar_pos.right < self.ball_pos.left):            reward = +1  # 躲避奖励

        # 获得游戏界面像素        screen_image = pygame.surfarray.array3d(pygame.display.get_surface())        pygame.display.update()        # 返回游戏界面像素和对应的奖励        return reward, screen_image

# learning_rateLEARNING_RATE = 0.99# 更新梯度INITIAL_EPSILON = 1.0FINAL_EPSILON = 0.05# 测试观测次数EXPLORE = 500000OBSERVE = 50000# 存储过往经验大小REPLAY_MEMORY = 500000

BATCH = 100

output = 3  # 输出层神经元数。代表3种操作-MOVE_STAY:[1, 0, 0]  MOVE_LEFT:[0, 1, 0]  MOVE_RIGHT:[0, 0, 1]input_image = tf.placeholder("float", [None, 80, 100, 4])  # 游戏像素action = tf.placeholder("float", [None, output])  # 操作

# 定义CNN-卷积神经网络 参考:http://blog.topspeedsnail.com/archives/10451def convolutional_neural_network(input_image):    weights = {‘w_conv1‘: tf.Variable(tf.zeros([8, 8, 4, 32])),               ‘w_conv2‘: tf.Variable(tf.zeros([4, 4, 32, 64])),               ‘w_conv3‘: tf.Variable(tf.zeros([3, 3, 64, 64])),               ‘w_fc4‘: tf.Variable(tf.zeros([3456, 784])),               ‘w_out‘: tf.Variable(tf.zeros([784, output]))}

    biases = {‘b_conv1‘: tf.Variable(tf.zeros([32])),              ‘b_conv2‘: tf.Variable(tf.zeros([64])),              ‘b_conv3‘: tf.Variable(tf.zeros([64])),              ‘b_fc4‘: tf.Variable(tf.zeros([784])),              ‘b_out‘: tf.Variable(tf.zeros([output]))}

    conv1 = tf.nn.relu(        tf.nn.conv2d(input_image, weights[‘w_conv1‘], strides=[1, 4, 4, 1], padding="VALID") + biases[‘b_conv1‘])    conv2 = tf.nn.relu(        tf.nn.conv2d(conv1, weights[‘w_conv2‘], strides=[1, 2, 2, 1], padding="VALID") + biases[‘b_conv2‘])    conv3 = tf.nn.relu(        tf.nn.conv2d(conv2, weights[‘w_conv3‘], strides=[1, 1, 1, 1], padding="VALID") + biases[‘b_conv3‘])    conv3_flat = tf.reshape(conv3, [-1, 3456])    fc4 = tf.nn.relu(tf.matmul(conv3_flat, weights[‘w_fc4‘]) + biases[‘b_fc4‘])

    output_layer = tf.matmul(fc4, weights[‘w_out‘]) + biases[‘b_out‘]    return output_layer

# 深度强化学习入门: https://www.nervanasys.com/demystifying-deep-reinforcement-learning/# 训练神经网络def train_neural_network(input_image):    predict_action = convolutional_neural_network(input_image)

    argmax = tf.placeholder("float", [None, output])    gt = tf.placeholder("float", [None])

    action = tf.reduce_sum(tf.multiply(predict_action, argmax), reduction_indices=1)    cost = tf.reduce_mean(tf.square(action - gt))    optimizer = tf.train.AdamOptimizer(1e-6).minimize(cost)

    game = Game()    D = deque()

    _, image = game.step(MOVE_STAY)    # 转换为灰度值    image = cv2.cvtColor(cv2.resize(image, (100, 80)), cv2.COLOR_BGR2GRAY)    # 转换为二值    ret, image = cv2.threshold(image, 1, 255, cv2.THRESH_BINARY)    input_image_data = np.stack((image, image, image, image), axis=2)

    with tf.Session() as sess:        sess.run(tf.initialize_all_variables())

        saver = tf.train.Saver()

        n = 0        epsilon = INITIAL_EPSILON        while True:            action_t = predict_action.eval(feed_dict={input_image: [input_image_data]})[0]

            argmax_t = np.zeros([output], dtype=np.int)            if (random.random() <= INITIAL_EPSILON):                maxIndex = random.randrange(output)            else:                maxIndex = np.argmax(action_t)            argmax_t[maxIndex] = 1            if epsilon > FINAL_EPSILON:                epsilon -= (INITIAL_EPSILON - FINAL_EPSILON) / EXPLORE

            # for event in pygame.event.get():  macOS需要事件循环，否则白屏            #  if event.type == QUIT:            #     pygame.quit()            #     sys.exit()            reward, image = game.step(list(argmax_t))

            image = cv2.cvtColor(cv2.resize(image, (100, 80)), cv2.COLOR_BGR2GRAY)            ret, image = cv2.threshold(image, 1, 255, cv2.THRESH_BINARY)            image = np.reshape(image, (80, 100, 1))            input_image_data1 = np.append(image, input_image_data[:, :, 0:3], axis=2)

            D.append((input_image_data, argmax_t, reward, input_image_data1))

            if len(D) > REPLAY_MEMORY:                D.popleft()

            if n > OBSERVE:                minibatch = random.sample(D, BATCH)                input_image_data_batch = [d[0] for d in minibatch]                argmax_batch = [d[1] for d in minibatch]                reward_batch = [d[2] for d in minibatch]                input_image_data1_batch = [d[3] for d in minibatch]

                gt_batch = []

                out_batch = predict_action.eval(feed_dict={input_image: input_image_data1_batch})

                for i in range(0, len(minibatch)):                    gt_batch.append(reward_batch[i] + LEARNING_RATE * np.max(out_batch[i]))

                optimizer.run(feed_dict={gt: gt_batch, argmax: argmax_batch, input_image: input_image_data_batch})

            input_image_data = input_image_data1            n = n + 1

            if n % 10000 == 0:                saver.save(sess, ‘game.cpk‘, global_step=n)  # 保存模型

            print(n, "epsilon:", epsilon, " ", "action:", maxIndex, " ", "reward:", reward)

train_neural_network(input_image)