强化学习：连续控制问题中Actor-Critic算法的linear baseline

最近在看连续控制问题，看到了一个Actor-Critic算法中手动扩展features和设置linear baseline的方法，这些方法源自论文：《Benchmarking Deep Reinforcement Learning for Continuous Control》。

对于低维的features我们可以手动扩展：

代码实现：

return torch.cat([observations, observations ** 2, al, al ** 2, al ** 3, ones], dim=2)

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linear baseline，在AC算法中给Critic降低方差之用，给出一种简单的线性拟合方式，使用最小二乘法拟合：

代码：

def fit(self, episodes):
        # sequence_length * batch_size x feature_size
        featmat = self._feature(episodes).view(-1, self.feature_size)
        # sequence_length * batch_size x 1
        returns = episodes.returns.view(-1, 1)

        reg_coeff = self._reg_coeff
        eye = torch.eye(self.feature_size, dtype=torch.float32,
                        device=self.linear.weight.device)
        for _ in range(5):
            try:
                coeffs = torch.linalg.lstsq(
                    torch.matmul(featmat.t(), featmat) + reg_coeff * eye,
                    torch.matmul(featmat.t(), returns)
                ).solution
                break
            except RuntimeError:
                reg_coeff += 10
        else:
            raise RuntimeError('Unable to solve the normal equations in '
                               '`LinearFeatureBaseline`. The matrix X^T*X (with X the design '
                               'matrix) is not full-rank, regardless of the regularization '
                               '(maximum regularization: {0}).'.format(reg_coeff))
        self.linear.weight.data = coeffs.data.t()

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详细代码地址：

https://gitee.com/devilmaycry812839668/MAML-Pytorch-RL/blob/master/maml_rl/baseline.py