文章目录

强化学习的基本概念
- 1. 强化学习的算法步骤：
- 2. 强化学习和其他机器学习范式的不同
- 3. 强化学习的要素
- - a. 智能体
  - b. 策略函数
  - c. 值函数
  - d. 模型
- 4. 强化学习的环境类型
- - （1）确定性环境
  - （2）随机性环境
  - （3）完全可观测环境
  - （4）部分可观测环境
  - （5）离散环境
  - （6）连续环境
  - （7）情景和非情景环境
  - （8）单智能体和多智能体环境
- 5. 强化学习的平台
- 6.强化学习的入门例子
- - 小程序一：平衡摆游戏

强化学习的基本概念

1. 强化学习的算法步骤：

首先，智能体通过执行行为与环境进行交互。
智能体执行一个行为之后，从一个状态转移到另一个状态
然后，智能体将会根据所执行的行为获得相应的奖励。
根据获得的奖励，智能体会知晓该行为是好是坏。
如果行为是好的，即如果智能体得到正面奖励，那么将会倾向于执行该行为，否则智能体将会尝试执行其他行为来获得正面奖励。因此，该方法本质上是一个试错学习的过程。

2. 强化学习和其他机器学习范式的不同

在监督学习中，机器（智能体）从具有标记的输入|输出训练数据集中学习。目的是使得模型对其学习进行外推和推广，从而能够很好适用于未知数据。在此，需要有一个对环境具备完备知识基础的外部监督者，来监督智能体完成该任务。

在无监督学习中，将提供一个仅有一组输入训练数据的模型，通过模型来学习确定输入数据中的隐藏模式。通常普遍会误认为强化学习是一种无监督学习，其实并非如此。在无监督学习中，通过模型来学习隐藏的结构，而在强化学习中，通过最大化奖励来学习模型。假设想要向用户推荐新电影。无监督学习会通过分析用户观看过的类似电影来推荐，而强化学习则不断接收来自用户的反馈信息，了解其偏好电影，并在此基础上构建一个知识库，来推荐一部新电影。

另外还有一种称为半监督的学习，其本质上是监督学习和无监督学习的结合。该方法涉及数据和未标记数据的函数估计，而强化学习的本质上智能体与其环境之间的交互。所以，强化学习与其他所有机器学习的范式完全不同。

3. 强化学习的要素

a. 智能体

智能体是指进行智能决策的软件程序，在强化学习中通常是学习者。智能体通过与环境交互来执行行为，并根据其行为来获得奖励，比如说超级马里奥在视频游戏中的动作行为。

b. 策略函数

策略定义了智能体在环境中的行为。智能体决定执行何种行为取决于策略。假设从家到办公室之间存在不同的路径，其中有些路径很短，而有些路径相对很长。这些路径可以称为策略，因为代表了为达到目标而选择执行的行为。策略通常用符号πππ 表示。策略也可以是查找表形式或者复杂的搜索过程。

c. 值函数

值函数表示智能体在某一特定状态下的程度。这与策略有关，通常用v(s)v(s)v(s)表示。值函数等价于智能体从开始状态开始所获得的总的期望奖励。值函数有多种形式。最优值函数是与其他值函数相比，所有状态下具有最大值的一种值函数。同理，最优策略是指具有最优值函数的策略。

d. 模型

模型是指智能体对环境的表示。学习可以分为基于模型的学习和无模型学习两种类型，在基于模型的学习中，智能体利用先前学习到的信息来完成任务，而在无模型学习中，智能体仅是通过试错经验来执行正确行为。假设想要更快地从家到办公室。在基于模型的学习中，只需利用先前学习的经验（地图）来快速地到达办公室，而在无模型学习中，不会使用之前的经验，而是尝试所有不同的路线，并从中选择较快的一种。

4. 强化学习的环境类型

与智能体交互的所有内容都称为环境。环境是指外部世界，包括除智能体之外的一切事物。环境有不同类型：

（1）确定性环境

如果根据当前状态就可以知道相应的结果，那么就称为确定性环境。例如，在国际象棋中，会知道移动每个棋子侯的确切结果。

（2）随机性环境

如果不能根据当前状态来去确定相应的结果，那么这种环境就称为随机性环境。在这种环境中，会存在较大程度的不确定性。例如，在掷骰子时永远不知道会出现什么数字。

（3）完全可观测环境

如果智能体在任何时候都能确定系统的状态，那么久称为完全可观测环境。例如，在国际象棋中，系统的状态，即棋盘上所有棋子的位置，都是可以获得的。因此，棋手可以做出最优决策。

（4）部分可观测环境

如果智能体无法在任何时候都能确定系统的状态，那么就称为部分可观测环境。例如，在玩扑克时，不知道对手的牌。

（5）离散环境

如果从一个状态转移到另一个状态后只能有一个有限的行为状态，那么就称为离散环境。例如，在国际象棋中，只能有移动棋子后的有限集。

（6）连续环境

如果从一个状态转移到另一个状态可以有无限的行为状态，那么就称为连续环境。例如，从出发地到目的地的旅行中可以有多条路线。

（7）情景和非情景环境

情景环境也称为非序贯环境。在情景环境中，智能体的当前行为不会影响将来的行为，而在非情景环境中，智能体的当前行为会影响今后的行为，也称为序贯环境。也就是说，智能体在情景环境中执行独立的任务，而在非情景环境中，所有智能体的行为都是相关的。

（8）单智能体和多智能体环境

单智能体环境中只能有一个智能体，而多智能体中可以存在多个智能体。在执行复杂任务时，常用多智能体环境。在完全不同的环境中，有不同的智能体执行。不同环境下的智能体可以相互通信。多智能体环境大多是随机的，因为其具有较大程度的不确定性。

5. 强化学习的平台

OpenAI Gym是一个用于构建、评估和比较强化学习算法的工具包。可以兼容TensorFlow、Theano、keras等任何框架下所编写的算法。该工具包简单易懂，无需对智能体的结构进行假设，并对所有强化学习任务提供了接口。

OpenAI Universe是OpenAI Gym的扩展，提供了在从简单到实时复杂的各种环境下训练和评估智能体的功能。可以无限访问许多游戏环境。利用Universe,任何程序都可以转换为一个Gym环境，而无需访问程序内部、源代码或者API,这是因为Universe是通过一个计算远程桌面的虚拟网络来自动启动程序的。

DeepMind Lab是基于AI智能体的另一个优秀的研究平台，提供了丰富的模拟环境，可作为运行多种强化学习算法的实验平台。同时它具有高度的可定制化和可拓展性，可视化内容十分丰富，且具有科幻风格和逼真效果。

此外，还有RL-Glue、Project Malmo、VizDoom等平台，因为没有尝试过这些，所以不再具体介绍。

6.强化学习的入门例子

Gym的安装教程可以自行百度。可参考这个链接：三大操作系统中的环境配置方法安装好后，通过

from gym import envs
print(envs.registry.all())

查看支持环境。
结果如下：

dict_values([EnvSpec(KangarooNoFrameskip-v4), EnvSpec(SkiingDeterministic-v0), EnvSpec(ChopperCommand-ramNoFrameskip-v0), EnvSpec(NameThisGame-ramDeterministic-v4), EnvSpec(Gopher-ramNoFrameskip-v4), EnvSpec(MontezumaRevenge-ramNoFrameskip-v0), EnvSpec(Skiing-ramDeterministic-v0), EnvSpec(Pooyan-ramNoFrameskip-v4), EnvSpec(ChopperCommand-ramDeterministic-v0), EnvSpec(Assault-ramNoFrameskip-v4), EnvSpec(ZaxxonNoFrameskip-v4), EnvSpec(JourneyEscape-ram-v0), EnvSpec(BankHeist-v4), EnvSpec(Gravitar-ramNoFrameskip-v0), EnvSpec(Berzerk-ramNoFrameskip-v0), EnvSpec(Pong-ram-v0), EnvSpec(DemonAttackNoFrameskip-v4), EnvSpec(BankHeist-v0), EnvSpec(AtlantisNoFrameskip-v0), EnvSpec(MsPacmanNoFrameskip-v0), EnvSpec(Bowling-v0), EnvSpec(ElevatorAction-v4), EnvSpec(Breakout-ramDeterministic-v4), EnvSpec(FishingDerbyDeterministic-v4), EnvSpec(BipedalWalkerHardcore-v2), EnvSpec(KungFuMaster-ramDeterministic-v0), EnvSpec(DemonAttackDeterministic-v4), EnvSpec(CentipedeDeterministic-v0), EnvSpec(TimePilot-ramDeterministic-v4), EnvSpec(SeaquestDeterministic-v4), EnvSpec(SkiingNoFrameskip-v0), EnvSpec(MountainCarContinuous-v0), EnvSpec(BattleZone-v4), EnvSpec(Krull-ramDeterministic-v4), EnvSpec(GravitarDeterministic-v4), EnvSpec(SpaceInvaders-ramNoFrameskip-v0), EnvSpec(HandManipulateEggFull-v0), EnvSpec(BowlingDeterministic-v4), EnvSpec(InvertedPendulum-v2), EnvSpec(Skiing-ram-v0), EnvSpec(Tutankham-ramDeterministic-v0), EnvSpec(Gopher-ramDeterministic-v4), EnvSpec(KellyCoinflipGeneralized-v0), EnvSpec(Asterix-ramDeterministic-v0), EnvSpec(BattleZone-ramNoFrameskip-v4), EnvSpec(DemonAttack-ramDeterministic-v4), EnvSpec(AirRaid-ramDeterministic-v4), EnvSpec(Robotank-ramDeterministic-v4), EnvSpec(Gravitar-v0), EnvSpec(VentureDeterministic-v0), EnvSpec(AsterixDeterministic-v0), EnvSpec(DemonAttackDeterministic-v0), EnvSpec(BeamRiderDeterministic-v0), EnvSpec(IceHockey-ramDeterministic-v4), EnvSpec(HandManipulateEggDense-v0), EnvSpec(Boxing-ramDeterministic-v0), EnvSpec(HandManipulatePenFullDense-v0), EnvSpec(KungFuMasterDeterministic-v4), EnvSpec(ElevatorAction-ram-v4), EnvSpec(SolarisDeterministic-v0), EnvSpec(JamesbondNoFrameskip-v0), EnvSpec(FrostbiteDeterministic-v0), EnvSpec(AmidarDeterministic-v4), EnvSpec(Enduro-ramDeterministic-v0), EnvSpec(CarnivalNoFrameskip-v4), EnvSpec(Tutankham-v4), EnvSpec(HeroNoFrameskip-v0), EnvSpec(MountainCar-v0), EnvSpec(YarsRevenge-ram-v4), EnvSpec(Centipede-ramNoFrameskip-v0), EnvSpec(VideoPinball-ramDeterministic-v4), EnvSpec(BattleZone-v0), EnvSpec(BankHeistNoFrameskip-v0), EnvSpec(MsPacman-ramNoFrameskip-v4), EnvSpec(Centipede-ramDeterministic-v0), EnvSpec(NameThisGameDeterministic-v0), EnvSpec(Swimmer-v2), EnvSpec(Skiing-ram-v4), EnvSpec(JourneyEscape-ramNoFrameskip-v4), EnvSpec(Assault-v4), EnvSpec(MsPacman-v0), EnvSpec(Frostbite-ramNoFrameskip-v4), EnvSpec(Breakout-ram-v4), EnvSpec(FrostbiteDeterministic-v4), EnvSpec(Qbert-ramNoFrameskip-v0), EnvSpec(CliffWalking-v0), EnvSpec(TimePilotNoFrameskip-v0), EnvSpec(BeamRiderNoFrameskip-v0), EnvSpec(Phoenix-ramDeterministic-v4), EnvSpec(IceHockey-ramNoFrameskip-v0), EnvSpec(IceHockeyDeterministic-v0), EnvSpec(Kangaroo-ram-v0), EnvSpec(HandManipulatePen-v0), EnvSpec(VideoPinball-v0), EnvSpec(ElevatorAction-ramNoFrameskip-v4), EnvSpec(KellyCoinflip-v0), EnvSpec(Centipede-v4), EnvSpec(CrazyClimber-ram-v4), EnvSpec(IceHockey-ramNoFrameskip-v4), EnvSpec(HandManipulateBlockRotateParallelDense-v0), EnvSpec(NameThisGameNoFrameskip-v0), EnvSpec(VideoPinballDeterministic-v0), EnvSpec(Krull-ram-v0), EnvSpec(Pong-ramDeterministic-v0), EnvSpec(IceHockeyNoFrameskip-v4), EnvSpec(TimePilot-ram-v0), EnvSpec(Enduro-ramDeterministic-v4), EnvSpec(CentipedeDeterministic-v4), EnvSpec(KangarooDeterministic-v4), EnvSpec(CrazyClimber-v4), EnvSpec(Bowling-ramNoFrameskip-v0), EnvSpec(Pendulum-v0), EnvSpec(BankHeistDeterministic-v0), EnvSpec(Phoenix-ramNoFrameskip-v4), EnvSpec(Alien-v0), EnvSpec(ChopperCommand-ram-v4), EnvSpec(FrostbiteNoFrameskip-v0), EnvSpec(PongDeterministic-v4), EnvSpec(Amidar-v4), EnvSpec(DoubleDunk-ramNoFrameskip-v4), EnvSpec(BankHeistDeterministic-v4), EnvSpec(Solaris-ramDeterministic-v0), EnvSpec(TimePilot-ramDeterministic-v0), EnvSpec(Freeway-ramNoFrameskip-v0), EnvSpec(Alien-ramNoFrameskip-v0), EnvSpec(CubeCrash-v0), EnvSpec(BankHeistNoFrameskip-v4), EnvSpec(BeamRider-v0), EnvSpec(CubeCrashSparse-v0), EnvSpec(PrivateEyeDeterministic-v0), EnvSpec(Pooyan-ramNoFrameskip-v0), EnvSpec(Bowling-ram-v4), EnvSpec(FetchPushDense-v1), EnvSpec(Pong-v0), EnvSpec(AirRaidNoFrameskip-v4), EnvSpec(DemonAttack-ramDeterministic-v0), EnvSpec(Riverraid-ram-v4), EnvSpec(ZaxxonDeterministic-v0), EnvSpec(FetchSlideDense-v1), EnvSpec(Skiing-ramNoFrameskip-v4), EnvSpec(Gopher-v0), EnvSpec(SpaceInvaders-ramDeterministic-v4), EnvSpec(Gravitar-v4), EnvSpec(BattleZoneDeterministic-v0), EnvSpec(SolarisDeterministic-v4), EnvSpec(BattleZone-ramDeterministic-v0), EnvSpec(Breakout-v0), EnvSpec(AlienDeterministic-v4), EnvSpec(Centipede-v0), EnvSpec(Freeway-ramNoFrameskip-v4), EnvSpec(Seaquest-ramDeterministic-v0), EnvSpec(AlienNoFrameskip-v0), EnvSpec(MontezumaRevenge-v0), EnvSpec(Robotank-v4), EnvSpec(VideoPinball-v4), EnvSpec(Hero-ramNoFrameskip-v4), EnvSpec(AsteroidsDeterministic-v0), EnvSpec(AirRaid-v0), EnvSpec(RoadRunner-v4), EnvSpec(Hero-ramDeterministic-v4), EnvSpec(SpaceInvaders-ramDeterministic-v0), EnvSpec(BeamRider-ramNoFrameskip-v4), EnvSpec(Gravitar-ramDeterministic-v4), EnvSpec(InvertedDoublePendulum-v2), EnvSpec(MontezumaRevenge-ram-v4), EnvSpec(Breakout-v4), EnvSpec(HandManipulateBlock-v0), EnvSpec(TennisDeterministic-v0), EnvSpec(WizardOfWorNoFrameskip-v4), EnvSpec(Berzerk-ramDeterministic-v0), EnvSpec(YarsRevengeNoFrameskip-v0), EnvSpec(FreewayDeterministic-v0), EnvSpec(MontezumaRevenge-ramNoFrameskip-v4), EnvSpec(Zaxxon-ramDeterministic-v0), EnvSpec(Hopper-v2), EnvSpec(TennisNoFrameskip-v4), EnvSpec(UpNDown-ram-v0), EnvSpec(PrivateEye-ramNoFrameskip-v4), EnvSpec(AssaultDeterministic-v0), EnvSpec(RobotankNoFrameskip-v0), EnvSpec(BoxingDeterministic-v0), EnvSpec(BattleZoneNoFrameskip-v4), EnvSpec(Breakout-ramNoFrameskip-v4), EnvSpec(Blackjack-v0), EnvSpec(BipedalWalker-v2), EnvSpec(ChopperCommandDeterministic-v4), EnvSpec(Robotank-ram-v0), EnvSpec(NameThisGameDeterministic-v4), EnvSpec(StarGunnerDeterministic-v0), EnvSpec(Solaris-ramDeterministic-v4), EnvSpec(UpNDown-ramDeterministic-v4), EnvSpec(RoadRunnerNoFrameskip-v0), EnvSpec(PrivateEye-ram-v0), EnvSpec(Pooyan-v4), EnvSpec(Qbert-v4), EnvSpec(DoubleDunk-ramDeterministic-v0), EnvSpec(MontezumaRevengeDeterministic-v0), EnvSpec(ElevatorAction-ramNoFrameskip-v0), EnvSpec(Copy-v0), EnvSpec(Gravitar-ramNoFrameskip-v4), EnvSpec(Alien-v4), EnvSpec(Walker2d-v2), EnvSpec(EnduroNoFrameskip-v0), EnvSpec(JourneyEscape-ram-v4), EnvSpec(Robotank-ram-v4), EnvSpec(Venture-v4), EnvSpec(BankHeist-ram-v4), EnvSpec(Amidar-v0), EnvSpec(NameThisGame-ram-v0), EnvSpec(AsteroidsDeterministic-v4), EnvSpec(Asteroids-ramDeterministic-v0), EnvSpec(TimePilotDeterministic-v4), EnvSpec(Centipede-ram-v4), EnvSpec(FishingDerby-ram-v4), EnvSpec(HandManipulateBlockRotateParallel-v0), EnvSpec(HeroDeterministic-v4), EnvSpec(AirRaid-ramNoFrameskip-v4), EnvSpec(UpNDown-ramDeterministic-v0), EnvSpec(RobotankNoFrameskip-v4), EnvSpec(FrostbiteNoFrameskip-v4), EnvSpec(WizardOfWor-ramNoFrameskip-v0), EnvSpec(GopherNoFrameskip-v4), EnvSpec(DoubleDunk-v4), EnvSpec(YarsRevengeNoFrameskip-v4), EnvSpec(HalfCheetah-v2), EnvSpec(CrazyClimberNoFrameskip-v4), EnvSpec(AsterixNoFrameskip-v0), EnvSpec(DoubleDunkNoFrameskip-v4), EnvSpec(BoxingNoFrameskip-v0), EnvSpec(NameThisGame-ramNoFrameskip-v4), EnvSpec(GravitarDeterministic-v0), EnvSpec(BattleZone-ramDeterministic-v4), EnvSpec(Pong-ramDeterministic-v4), EnvSpec(FishingDerby-ramDeterministic-v0), EnvSpec(PitfallDeterministic-v4), EnvSpec(Berzerk-ramNoFrameskip-v4), EnvSpec(RoadRunner-ramDeterministic-v0), EnvSpec(Atlantis-ramNoFrameskip-v0), EnvSpec(SpaceInvaders-ramNoFrameskip-v4), EnvSpec(PooyanNoFrameskip-v0), EnvSpec(Berzerk-ram-v4), EnvSpec(VideoPinball-ramDeterministic-v0), EnvSpec(UpNDown-ramNoFrameskip-v0), EnvSpec(Asteroids-ramNoFrameskip-v4), EnvSpec(PhoenixDeterministic-v0), EnvSpec(CrazyClimber-ramDeterministic-v0), EnvSpec(Jamesbond-ramDeterministic-v4), EnvSpec(CarnivalDeterministic-v0), EnvSpec(PrivateEyeDeterministic-v4), EnvSpec(Enduro-ram-v4), EnvSpec(Phoenix-ramNoFrameskip-v0), EnvSpec(NameThisGame-v0), EnvSpec(ElevatorActionNoFrameskip-v0), EnvSpec(MontezumaRevenge-v4), EnvSpec(Pong-v4), EnvSpec(Tennis-ramDeterministic-v4), EnvSpec(Krull-v4), EnvSpec(AmidarDeterministic-v0), EnvSpec(Pitfall-v0), EnvSpec(Gopher-ramDeterministic-v0), EnvSpec(RoadRunner-ram-v4), EnvSpec(Alien-ram-v4), EnvSpec(CentipedeNoFrameskip-v0), EnvSpec(Riverraid-ram-v0), EnvSpec(DoubleDunk-ram-v4), EnvSpec(Phoenix-v4), EnvSpec(Pitfall-ramNoFrameskip-v0), EnvSpec(Asterix-ramNoFrameskip-v4), EnvSpec(PhoenixNoFrameskip-v0), EnvSpec(Jamesbond-ramNoFrameskip-v4), EnvSpec(Berzerk-ramDeterministic-v4), EnvSpec(YarsRevenge-ramNoFrameskip-v4), EnvSpec(Riverraid-ramDeterministic-v4), EnvSpec(SolarisNoFrameskip-v0), EnvSpec(Kangaroo-v0), EnvSpec(IceHockeyDeterministic-v4), EnvSpec(Thrower-v2), EnvSpec(WizardOfWorDeterministic-v4), EnvSpec(Freeway-v4), EnvSpec(Zaxxon-ramNoFrameskip-v4), EnvSpec(Assault-ramDeterministic-v0), EnvSpec(Bowling-v4), EnvSpec(UpNDownDeterministic-v4), EnvSpec(Frostbite-v4), EnvSpec(TutankhamDeterministic-v0), EnvSpec(MsPacman-ramDeterministic-v0), EnvSpec(Centipede-ram-v0), EnvSpec(CartPole-v0), EnvSpec(VentureNoFrameskip-v4), EnvSpec(TennisDeterministic-v4), EnvSpec(Reverse-v0), EnvSpec(HandManipulateBlockFull-v0), EnvSpec(HumanoidStandup-v2), EnvSpec(Frostbite-ramDeterministic-v0), EnvSpec(DemonAttack-ramNoFrameskip-v0), EnvSpec(IceHockeyNoFrameskip-v0), EnvSpec(Gravitar-ram-v0), EnvSpec(RobotankDeterministic-v4), EnvSpec(RoadRunner-ramNoFrameskip-v0), EnvSpec(Pooyan-ramDeterministic-v0), EnvSpec(AtlantisNoFrameskip-v4), EnvSpec(Alien-ramDeterministic-v4), EnvSpec(Seaquest-ramNoFrameskip-v0), EnvSpec(HeroDeterministic-v0), EnvSpec(Robotank-ramNoFrameskip-v4), EnvSpec(Tutankham-ramNoFrameskip-v0), EnvSpec(MsPacman-ramNoFrameskip-v0), EnvSpec(PitfallNoFrameskip-v4), EnvSpec(Pong-ram-v4), EnvSpec(DoubleDunk-v0), EnvSpec(Pooyan-ram-v0), EnvSpec(Tennis-v0), EnvSpec(Solaris-v4), EnvSpec(KungFuMasterNoFrameskip-v4), EnvSpec(Carnival-v0), EnvSpec(BankHeist-ramDeterministic-v0), EnvSpec(HandManipulatePenDense-v0), EnvSpec(Seaquest-v4), EnvSpec(AirRaidDeterministic-v4), EnvSpec(VideoPinball-ram-v4), EnvSpec(SkiingDeterministic-v4), EnvSpec(CrazyClimber-v0), EnvSpec(BreakoutNoFrameskip-v4), EnvSpec(HandReachDense-v0), EnvSpec(Qbert-ramDeterministic-v0), EnvSpec(Hero-ramDeterministic-v0), EnvSpec(SpaceInvaders-v0), EnvSpec(FishingDerby-ramNoFrameskip-v0), EnvSpec(CrazyClimberDeterministic-v0), EnvSpec(AirRaid-ramDeterministic-v0), EnvSpec(YarsRevenge-v0), EnvSpec(MontezumaRevengeNoFrameskip-v4), EnvSpec(Freeway-ramDeterministic-v0), EnvSpec(IceHockey-v4), EnvSpec(KrullDeterministic-v4), EnvSpec(PrivateEye-ramNoFrameskip-v0), EnvSpec(JourneyEscape-ramDeterministic-v0), EnvSpec(KungFuMaster-ramNoFrameskip-v4), EnvSpec(Seaquest-ramNoFrameskip-v4), EnvSpec(FishingDerby-v0), EnvSpec(Gopher-ram-v4), EnvSpec(SeaquestNoFrameskip-v4), EnvSpec(ChopperCommandNoFrameskip-v4), EnvSpec(KungFuMaster-ramNoFrameskip-v0), EnvSpec(Enduro-v0), EnvSpec(Enduro-v4), EnvSpec(PooyanDeterministic-v0), EnvSpec(SpaceInvaders-ram-v0), EnvSpec(Boxing-ramDeterministic-v4), EnvSpec(Hero-ram-v0), EnvSpec(VentureDeterministic-v4), EnvSpec(RiverraidNoFrameskip-v0), EnvSpec(QbertDeterministic-v4), EnvSpec(BattleZone-ramNoFrameskip-v0), EnvSpec(Riverraid-v0), EnvSpec(Frostbite-ramDeterministic-v4), EnvSpec(NameThisGame-ramDeterministic-v0), EnvSpec(Solaris-ram-v4), EnvSpec(UpNDown-v4), EnvSpec(HandManipulateBlockRotateXYZDense-v0), EnvSpec(Assault-ram-v4), EnvSpec(Solaris-ramNoFrameskip-v0), EnvSpec(Boxing-v0), EnvSpec(Phoenix-v0), EnvSpec(Seaquest-ram-v0), EnvSpec(SpaceInvadersDeterministic-v4), EnvSpec(FetchSlide-v1), EnvSpec(Skiing-v0), EnvSpec(GravitarNoFrameskip-v0), EnvSpec(FetchPickAndPlace-v1), EnvSpec(StarGunner-ramNoFrameskip-v0), EnvSpec(PooyanDeterministic-v4), EnvSpec(Tutankham-ramDeterministic-v4), EnvSpec(MontezumaRevenge-ram-v0), EnvSpec(Skiing-v4), EnvSpec(KungFuMasterDeterministic-v0), EnvSpec(Hero-v0), EnvSpec(StarGunner-ramDeterministic-v0), EnvSpec(StarGunner-ram-v0), EnvSpec(EnduroDeterministic-v0), EnvSpec(SpaceInvaders-ram-v4), EnvSpec(Amidar-ramNoFrameskip-v0), EnvSpec(Boxing-v4), EnvSpec(AirRaid-ram-v0), EnvSpec(TimePilot-ram-v4), EnvSpec(WizardOfWor-ramNoFrameskip-v4), EnvSpec(RiverraidDeterministic-v0), EnvSpec(MemorizeDigits-v0), EnvSpec(RoadRunnerNoFrameskip-v4), EnvSpec(AlienNoFrameskip-v4), EnvSpec(UpNDown-ram-v4), EnvSpec(BerzerkDeterministic-v0), EnvSpec(Phoenix-ramDeterministic-v0), EnvSpec(Kangaroo-ramDeterministic-v4), EnvSpec(Humanoid-v2), EnvSpec(BankHeist-ramNoFrameskip-v4), EnvSpec(Qbert-ramNoFrameskip-v4), EnvSpec(BattleZoneNoFrameskip-v0), EnvSpec(DoubleDunk-ramNoFrameskip-v0), EnvSpec(WizardOfWor-v4), EnvSpec(BreakoutNoFrameskip-v0), EnvSpec(KungFuMaster-v0), EnvSpec(BeamRiderDeterministic-v4), EnvSpec(Hero-ramNoFrameskip-v0), EnvSpec(HandManipulateBlockRotateXYZ-v0), EnvSpec(Zaxxon-ram-v0), EnvSpec(RoadRunnerDeterministic-v0), EnvSpec(FetchPickAndPlaceDense-v1), EnvSpec(BreakoutDeterministic-v0), EnvSpec(Jamesbond-v0), EnvSpec(HandManipulateEgg-v0), EnvSpec(BankHeist-ramNoFrameskip-v0), EnvSpec(Bowling-ramDeterministic-v0), EnvSpec(Tennis-ramNoFrameskip-v0), EnvSpec(Kangaroo-ram-v4), EnvSpec(HotterColder-v0), EnvSpec(Atlantis-v4), EnvSpec(HandManipulateEggRotateDense-v0), EnvSpec(BeamRider-ramDeterministic-v4), EnvSpec(Ant-v2), EnvSpec(RoadRunner-ram-v0), EnvSpec(PhoenixNoFrameskip-v4), EnvSpec(Assault-ram-v0), EnvSpec(BankHeist-ramDeterministic-v4), EnvSpec(CrazyClimberDeterministic-v4), EnvSpec(Asteroids-ram-v0), EnvSpec(Krull-v0), EnvSpec(Amidar-ram-v4), EnvSpec(Bowling-ramDeterministic-v4), EnvSpec(FishingDerbyNoFrameskip-v4), EnvSpec(YarsRevenge-ram-v0), EnvSpec(RiverraidDeterministic-v4), EnvSpec(PongNoFrameskip-v0), EnvSpec(Hero-v4), EnvSpec(Seaquest-ramDeterministic-v4), EnvSpec(KangarooDeterministic-v0), EnvSpec(JamesbondDeterministic-v4), EnvSpec(Venture-ramDeterministic-v0), EnvSpec(HandManipulateBlockRotateZDense-v0), EnvSpec(GopherDeterministic-v4), EnvSpec(StarGunner-ramNoFrameskip-v4), EnvSpec(QbertNoFrameskip-v4), EnvSpec(Kangaroo-v4), EnvSpec(Carnival-ramNoFrameskip-v0), EnvSpec(HandManipulateBlockRotateZ-v0), EnvSpec(EnduroNoFrameskip-v4), EnvSpec(UpNDownNoFrameskip-v4), EnvSpec(FishingDerbyDeterministic-v0), EnvSpec(PrivateEye-ramDeterministic-v0), EnvSpec(UpNDown-ramNoFrameskip-v4), EnvSpec(AirRaidDeterministic-v0), EnvSpec(CrazyClimber-ramNoFrameskip-v4), EnvSpec(Venture-ramNoFrameskip-v4), EnvSpec(AssaultDeterministic-v4), EnvSpec(IceHockey-v0), EnvSpec(HandManipulateBlockDense-v0), EnvSpec(YarsRevenge-ramDeterministic-v0), EnvSpec(Pitfall-ramDeterministic-v4), EnvSpec(LunarLanderContinuous-v2), EnvSpec(Alien-ramNoFrameskip-v4), EnvSpec(ChopperCommand-ramNoFrameskip-v4), EnvSpec(JourneyEscape-ramNoFrameskip-v0), EnvSpec(RepeatCopy-v0), EnvSpec(TimePilot-ramNoFrameskip-v4), EnvSpec(FishingDerbyNoFrameskip-v0), EnvSpec(Asteroids-ram-v4), EnvSpec(AirRaid-ram-v4), EnvSpec(NameThisGameNoFrameskip-v4), EnvSpec(Seaquest-v0), EnvSpec(Freeway-v0), EnvSpec(VideoPinball-ramNoFrameskip-v0), EnvSpec(JamesbondNoFrameskip-v4), EnvSpec(Venture-ramDeterministic-v4), EnvSpec(Krull-ram-v4), EnvSpec(ChopperCommand-ramDeterministic-v4), EnvSpec(BoxingNoFrameskip-v4), EnvSpec(Tutankham-ram-v0), EnvSpec(Pitfall-ramDeterministic-v0), EnvSpec(YarsRevenge-ramNoFrameskip-v0), EnvSpec(VideoPinball-ram-v0), EnvSpec(Tennis-ramDeterministic-v0), EnvSpec(HandManipulateBlockFullDense-v0), EnvSpec(CarnivalNoFrameskip-v0), EnvSpec(Carnival-ramNoFrameskip-v4), EnvSpec(Frostbite-ramNoFrameskip-v0), EnvSpec(Carnival-ramDeterministic-v4), EnvSpec(Qbert-ramDeterministic-v4), EnvSpec(AsteroidsNoFrameskip-v0), EnvSpec(HandManipulatePenFull-v0), EnvSpec(DoubleDunkDeterministic-v4), EnvSpec(FreewayDeterministic-v4), EnvSpec(Qbert-ram-v0), EnvSpec(FetchReach-v1), EnvSpec(CarRacing-v0), EnvSpec(NameThisGame-ramNoFrameskip-v0), EnvSpec(GravitarNoFrameskip-v4), EnvSpec(Boxing-ramNoFrameskip-v0), EnvSpec(ZaxxonDeterministic-v4), EnvSpec(Zaxxon-ramDeterministic-v4), EnvSpec(KungFuMaster-v4), EnvSpec(BerzerkDeterministic-v4), EnvSpec(TimePilot-v4), EnvSpec(SeaquestDeterministic-v0), EnvSpec(AtlantisDeterministic-v0), EnvSpec(IceHockey-ram-v4), EnvSpec(PongNoFrameskip-v4), EnvSpec(YarsRevengeDeterministic-v4), EnvSpec(BreakoutDeterministic-v4), EnvSpec(JourneyEscapeNoFrameskip-v0), EnvSpec(UpNDown-v0), EnvSpec(Striker-v2), EnvSpec(Venture-v0), EnvSpec(Riverraid-v4), EnvSpec(ElevatorActionDeterministic-v0), EnvSpec(Frostbite-v0), EnvSpec(HandReach-v0), EnvSpec(Asterix-ramNoFrameskip-v0), EnvSpec(BattleZoneDeterministic-v4), EnvSpec(MsPacman-v4), EnvSpec(RobotankDeterministic-v0), EnvSpec(TimePilotDeterministic-v0), EnvSpec(JamesbondDeterministic-v0), EnvSpec(DemonAttack-ram-v0), EnvSpec(BeamRider-ram-v4), EnvSpec(Assault-ramDeterministic-v4), EnvSpec(PrivateEye-ram-v4), EnvSpec(SpaceInvaders-v4), EnvSpec(PitfallDeterministic-v0), EnvSpec(Asterix-ram-v0), EnvSpec(RoadRunner-ramDeterministic-v4), EnvSpec(VideoPinballNoFrameskip-v4), EnvSpec(Riverraid-ramDeterministic-v0), EnvSpec(AssaultNoFrameskip-v0), EnvSpec(CartPole-v1), EnvSpec(PrivateEye-ramDeterministic-v4), EnvSpec(AirRaid-ramNoFrameskip-v0), EnvSpec(Pooyan-ramDeterministic-v4), EnvSpec(Krull-ramDeterministic-v0), EnvSpec(Kangaroo-ramNoFrameskip-v4), EnvSpec(WizardOfWor-ramDeterministic-v4), EnvSpec(StarGunner-ram-v4), EnvSpec(Pong-ramNoFrameskip-v4), EnvSpec(Gopher-ram-v0), EnvSpec(Frostbite-ram-v4), EnvSpec(Jamesbond-ramNoFrameskip-v0), EnvSpec(CarnivalDeterministic-v4), EnvSpec(GuessingGame-v0), EnvSpec(PongDeterministic-v0), EnvSpec(Breakout-ramNoFrameskip-v0), EnvSpec(HandManipulatePenRotateDense-v0), EnvSpec(Tennis-ram-v4), EnvSpec(AirRaid-v4), EnvSpec(Assault-v0), EnvSpec(Berzerk-v0), EnvSpec(Riverraid-ramNoFrameskip-v4), EnvSpec(MsPacmanDeterministic-v4), EnvSpec(MsPacman-ram-v0), EnvSpec(AssaultNoFrameskip-v4), EnvSpec(KungFuMaster-ram-v0), EnvSpec(ElevatorAction-ramDeterministic-v4), EnvSpec(BeamRider-v4), EnvSpec(RoadRunner-ramNoFrameskip-v4), EnvSpec(TimePilot-ramNoFrameskip-v0), EnvSpec(SpaceInvadersNoFrameskip-v4), EnvSpec(Atlantis-ramDeterministic-v0), EnvSpec(MontezumaRevengeNoFrameskip-v0), EnvSpec(Seaquest-ram-v4), EnvSpec(PrivateEye-v4), EnvSpec(ElevatorAction-ramDeterministic-v0), EnvSpec(Tennis-ram-v0), EnvSpec(Pitfall-v4), EnvSpec(CrazyClimber-ramDeterministic-v4), EnvSpec(Enduro-ramNoFrameskip-v0), EnvSpec(Robotank-v0), EnvSpec(KangarooNoFrameskip-v0), EnvSpec(WizardOfWor-v0), EnvSpec(BerzerkNoFrameskip-v0), EnvSpec(ChopperCommandDeterministic-v0), EnvSpec(WizardOfWor-ram-v4), EnvSpec(HandManipulateEggRotate-v0), EnvSpec(GopherDeterministic-v0), EnvSpec(DemonAttackNoFrameskip-v0), EnvSpec(PrivateEyeNoFrameskip-v0), EnvSpec(Pong-ramNoFrameskip-v0), EnvSpec(Freeway-ramDeterministic-v4), EnvSpec(MsPacman-ramDeterministic-v4), EnvSpec(AsterixDeterministic-v4), EnvSpec(TutankhamDeterministic-v4), EnvSpec(Jamesbond-ramDeterministic-v0), EnvSpec(Skiing-ramNoFrameskip-v0), EnvSpec(Solaris-ram-v0), EnvSpec(Breakout-ram-v0), EnvSpec(SeaquestNoFrameskip-v0), EnvSpec(Jamesbond-ram-v4), EnvSpec(RoadRunner-v0), EnvSpec(VideoPinball-ramNoFrameskip-v4), EnvSpec(Bowling-ram-v0), EnvSpec(Venture-ram-v4), EnvSpec(FishingDerby-ram-v0), EnvSpec(YarsRevenge-v4), EnvSpec(Atlantis-ram-v0), EnvSpec(Frostbite-ram-v0), EnvSpec(Pooyan-v0), EnvSpec(AsterixNoFrameskip-v4), EnvSpec(Pitfall-ram-v4), EnvSpec(Roulette-v0), EnvSpec(Tutankham-ramNoFrameskip-v4), EnvSpec(Centipede-ramDeterministic-v4), EnvSpec(ChopperCommandNoFrameskip-v0), EnvSpec(Freeway-ram-v4), EnvSpec(Tennis-v4), EnvSpec(NameThisGame-v4), EnvSpec(BowlingNoFrameskip-v0), EnvSpec(HandManipulatePenRotate-v0), EnvSpec(KungFuMasterNoFrameskip-v0), EnvSpec(Solaris-v0), EnvSpec(Enduro-ramNoFrameskip-v4), EnvSpec(NameThisGame-ram-v4), EnvSpec(StarGunnerDeterministic-v4), EnvSpec(AmidarNoFrameskip-v4), EnvSpec(Gravitar-ram-v4), EnvSpec(CrazyClimberNoFrameskip-v0), EnvSpec(Riverraid-ramNoFrameskip-v0), EnvSpec(DemonAttack-v0), EnvSpec(MontezumaRevengeDeterministic-v4), EnvSpec(Krull-ramNoFrameskip-v0), EnvSpec(Amidar-ramDeterministic-v0), EnvSpec(Gopher-v4), EnvSpec(Amidar-ramDeterministic-v4), EnvSpec(TutankhamNoFrameskip-v0), EnvSpec(VentureNoFrameskip-v0), EnvSpec(StarGunner-v0), EnvSpec(Breakout-ramDeterministic-v0), EnvSpec(BeamRider-ram-v0), EnvSpec(FetchPush-v1), EnvSpec(ElevatorAction-v0), EnvSpec(ElevatorActionNoFrameskip-v4), EnvSpec(UpNDownNoFrameskip-v0), EnvSpec(FishingDerby-ramNoFrameskip-v4), EnvSpec(Alien-ramDeterministic-v0), EnvSpec(StarGunnerNoFrameskip-v4), EnvSpec(YarsRevenge-ramDeterministic-v4), EnvSpec(PrivateEyeNoFrameskip-v4), EnvSpec(BattleZone-ram-v4), EnvSpec(CentipedeNoFrameskip-v4), EnvSpec(DoubleDunkDeterministic-v0), EnvSpec(DoubleDunk-ramDeterministic-v4), EnvSpec(Zaxxon-ram-v4), EnvSpec(WizardOfWor-ram-v0), EnvSpec(AlienDeterministic-v0), EnvSpec(AtlantisDeterministic-v4), EnvSpec(KrullNoFrameskip-v0), EnvSpec(Phoenix-ram-v4), EnvSpec(TimePilotNoFrameskip-v4), EnvSpec(MsPacmanDeterministic-v0), EnvSpec(Carnival-ram-v4), EnvSpec(Asterix-v0), EnvSpec(TimePilot-v0), EnvSpec(EnduroDeterministic-v4), EnvSpec(Pitfall-ram-v0), EnvSpec(BeamRider-ramNoFrameskip-v0), EnvSpec(CrazyClimber-ram-v0), EnvSpec(Atlantis-ram-v4), EnvSpec(QbertNoFrameskip-v0), EnvSpec(MsPacmanNoFrameskip-v4), EnvSpec(SkiingNoFrameskip-v4), EnvSpec(VideoPinballNoFrameskip-v0), EnvSpec(FrozenLake8x8-v0), EnvSpec(Boxing-ramNoFrameskip-v4), EnvSpec(MontezumaRevenge-ramDeterministic-v0), EnvSpec(Zaxxon-v0), EnvSpec(ChopperCommand-v0), EnvSpec(DuplicatedInput-v0), EnvSpec(StarGunnerNoFrameskip-v0), EnvSpec(JourneyEscapeDeterministic-v0), EnvSpec(Berzerk-v4), EnvSpec(Skiing-ramDeterministic-v4), EnvSpec(ChopperCommand-v4), EnvSpec(RoadRunnerDeterministic-v4), EnvSpec(BeamRiderNoFrameskip-v4), EnvSpec(ZaxxonNoFrameskip-v0), EnvSpec(Pooyan-ram-v4), EnvSpec(Berzerk-ram-v0), EnvSpec(Zaxxon-v4), EnvSpec(KrullNoFrameskip-v4), EnvSpec(Asteroids-ramDeterministic-v4), EnvSpec(IceHockey-ram-v0), EnvSpec(Tutankham-v0), EnvSpec(PrivateEye-v0), EnvSpec(Venture-ram-v0), EnvSpec(Enduro-ram-v0), EnvSpec(KungFuMaster-ramDeterministic-v4), EnvSpec(Taxi-v2), EnvSpec(JourneyEscapeDeterministic-v4), EnvSpec(FreewayNoFrameskip-v0), EnvSpec(MontezumaRevenge-ramDeterministic-v4), EnvSpec(StarGunner-ramDeterministic-v4), EnvSpec(KungFuMaster-ram-v4), EnvSpec(CrazyClimber-ramNoFrameskip-v0), EnvSpec(Alien-ram-v0), EnvSpec(BowlingNoFrameskip-v4), EnvSpec(Kangaroo-ramDeterministic-v0), EnvSpec(BeamRider-ramDeterministic-v0), EnvSpec(JourneyEscape-v0), EnvSpec(FetchReachDense-v1), EnvSpec(ElevatorAction-ram-v0), EnvSpec(Zaxxon-ramNoFrameskip-v0), EnvSpec(ReversedAddition3-v0), EnvSpec(KrullDeterministic-v0), EnvSpec(AsteroidsNoFrameskip-v4), EnvSpec(StarGunner-v4), EnvSpec(Boxing-ram-v0), EnvSpec(JourneyEscape-ramDeterministic-v4), EnvSpec(VideoPinballDeterministic-v4), EnvSpec(Pusher-v2), EnvSpec(PooyanNoFrameskip-v4), EnvSpec(Centipede-ramNoFrameskip-v4), EnvSpec(Amidar-ram-v0), EnvSpec(TutankhamNoFrameskip-v4), EnvSpec(QbertDeterministic-v0), EnvSpec(WizardOfWorDeterministic-v0), EnvSpec(Atlantis-v0), EnvSpec(YarsRevengeDeterministic-v0), EnvSpec(Asteroids-v0), EnvSpec(Jamesbond-ram-v0), EnvSpec(Atlantis-ramNoFrameskip-v4), EnvSpec(FrozenLake-v0), EnvSpec(IceHockey-ramDeterministic-v0), EnvSpec(Tennis-ramNoFrameskip-v4), EnvSpec(SpaceInvadersDeterministic-v0), EnvSpec(MsPacman-ram-v4), EnvSpec(PitfallNoFrameskip-v0), EnvSpec(PhoenixDeterministic-v4), EnvSpec(Krull-ramNoFrameskip-v4), EnvSpec(Reacher-v2), EnvSpec(LunarLander-v2), EnvSpec(Asteroids-v4), EnvSpec(ElevatorActionDeterministic-v4), EnvSpec(Gopher-ramNoFrameskip-v0), EnvSpec(HeroNoFrameskip-v4), EnvSpec(ReversedAddition-v0), EnvSpec(FishingDerby-v4), EnvSpec(BoxingDeterministic-v4), EnvSpec(WizardOfWorNoFrameskip-v0), EnvSpec(Asteroids-ramNoFrameskip-v0), EnvSpec(Pitfall-ramNoFrameskip-v4), EnvSpec(Qbert-v0), EnvSpec(Bowling-ramNoFrameskip-v4), EnvSpec(JourneyEscapeNoFrameskip-v4), EnvSpec(Asterix-ramDeterministic-v4), EnvSpec(Assault-ramNoFrameskip-v0), EnvSpec(Robotank-ramDeterministic-v0), EnvSpec(AirRaidNoFrameskip-v0), EnvSpec(Atlantis-ramDeterministic-v4), EnvSpec(Phoenix-ram-v0), EnvSpec(HandManipulateEggFullDense-v0), EnvSpec(BowlingDeterministic-v0), EnvSpec(Carnival-ramDeterministic-v0), EnvSpec(SolarisNoFrameskip-v4), EnvSpec(Carnival-v4), EnvSpec(Jamesbond-v4), EnvSpec(BerzerkNoFrameskip-v4), EnvSpec(Robotank-ramNoFrameskip-v0), EnvSpec(SpaceInvadersNoFrameskip-v0), EnvSpec(Amidar-ramNoFrameskip-v4), EnvSpec(ChopperCommand-ram-v0), EnvSpec(Boxing-ram-v4), EnvSpec(Tutankham-ram-v4), EnvSpec(Gravitar-ramDeterministic-v0), EnvSpec(NChain-v0), EnvSpec(Venture-ramNoFrameskip-v0), EnvSpec(BankHeist-ram-v0), EnvSpec(DoubleDunkNoFrameskip-v0), EnvSpec(TennisNoFrameskip-v0), EnvSpec(DemonAttack-ram-v4), EnvSpec(DoubleDunk-ram-v0), EnvSpec(Kangaroo-ramNoFrameskip-v0), EnvSpec(JourneyEscape-v4), EnvSpec(CubeCrashScreenBecomesBlack-v0), EnvSpec(AmidarNoFrameskip-v0), EnvSpec(Solaris-ramNoFrameskip-v4), EnvSpec(GopherNoFrameskip-v0), EnvSpec(Hero-ram-v4), EnvSpec(WizardOfWor-ramDeterministic-v0), EnvSpec(UpNDownDeterministic-v0), EnvSpec(Qbert-ram-v4), EnvSpec(FishingDerby-ramDeterministic-v4), EnvSpec(DemonAttack-v4), EnvSpec(DemonAttack-ramNoFrameskip-v4), EnvSpec(Acrobot-v1), EnvSpec(BattleZone-ram-v0), EnvSpec(RiverraidNoFrameskip-v4), EnvSpec(FreewayNoFrameskip-v4), EnvSpec(Asterix-v4), EnvSpec(Asterix-ram-v4), EnvSpec(Carnival-ram-v0), EnvSpec(Freeway-ram-v0)])

小程序一：平衡摆游戏

cart pole即车杆游戏，游戏如下，很简单，游戏里面有一个小车，上有竖着一根杆子。小车需要左右移动来保持杆子竖直。如果杆子倾斜的角度大于15°，那么游戏结束。小车也不能移动出一个范围（中间到两边各2.4个单位长度）。
在gym的Cart Pole环境（env）里面，左移或者右移小车的action之后，env都会返回一个+1的reward。到达100个reward之后，游戏也会结束。

import gymenv = gym.make('CartPole-v0')for i_episode in range(100):observation = env.reset()for t in range(100):env.render() # 更新动画action = env.action_space.sample()observation, reward, done, info = env.step(action) # 推进一步if done:env.reset()continue

运行结果：

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