【强化学习】⚠️手把手带你走进强化学习 3⚠️ OPP 算法实现月球登陆器 (Tensorflow2 版)
2024-06-01 11:44:44
【强化学习】⚠️手把手带你走进强化学习 3⚠️ OPP 算法实现月球登陆器
- 概述
- 强化学习算法种类
- PPO 算法
- Actor-Critic 算法
- Gym
- LunarLander-v2
- 启动登陆器
- PPO 算法实现月球登录器
- PPO
- main
- 输出结果
概述
从今天开始我们会开启一个新的篇章, 带领大家来一起学习 (卷进) 强化学习 (Reinforcement Learning). 强化学习基于环境, 分析数据采取行动, 从而最大化未来收益.
强化学习算法种类
On-policy vs Off-policy:
- On-policy: 训练数据由当前 agent 不断与环境交互得到
- Off-policy: 训练的 agent 和与环境交互的 agent 不是同一个 agent, 即别人与环境交互为我提供训练数据
PPO 算法
PPO (Proximal Policy Optimization) 即近端策略优化. PPO 是一种 on-policy 算法, 通过实现小批量更新, 解决了训练过程中新旧策略的变化差异过大导致不易学习的问题.
Actor-Critic 算法
Actor-Critic 算法共分为两部分. 第一部分为策略函数 Actor, 负责生成动作并与环境交互; 第二部分为价值函数, 负责评估 Actor 的表现.
Gym
Gym 是一个强化学习会经常用到的包. Gym 里收集了很多游戏的环境. 下面我们就会用 LunarLander-v2 来实现一个自动版的 “阿波罗登月”.
安装:
pip install gym
如果遇到报错:
AttributeError: module 'gym.envs.box2d' has no attribute 'LunarLander'
解决办法:
pip install gym[box2d]
LunarLander-v2
LunarLander-v2 是一个月球登陆器. 着陆平台位于坐标 (0, 0). 坐标是状态向量的前两个数字, 从屏幕顶部移动到着陆台和零速度的奖励大约是 100 到 140分. 如果着陆器坠毁或停止, 则回合结束, 获得额外的 -100 或 +100点. 每脚接地为 +10, 点火主机每帧 -0.3分, 正解为200分.
启动登陆器
代码:
import gym# 创建环境
env = gym.make("LunarLander-v2")# 重置环境
env.reset()# 启动
for i in range(180):# 渲染环境env.render()# 随机移动observation, reward, done, info = env.step(env.action_space.sample())if i % 10 == 0:# 调试输出print("观察:", observation)print("得分:", reward)
输出结果:
观察: [ 0.00861025 1.4061487 0.42930993 -0.11858992 -0.00789343 -0.057290950. 0. ]
得分: 0.4097546298543773
观察: [ 0.04917412 1.3876126 0.41002613 -0.13066985 -0.06578191 -0.126049670. 0. ]
得分: -1.0858669952763478
观察: [ 0.08917055 1.3429415 0.43598312 -0.2890789 -0.17471936 -0.239131360. 0. ]
得分: -2.9339827504803666
观察: [ 0.1326253 1.2450166 0.44708318 -0.5567949 -0.32039645 -0.282503340. 0. ]
得分: -2.2779730990326357
观察: [ 0.18323365 1.1110108 0.615291 -0.61922276 -0.43743232 -0.29210570. 0. ]
得分: -3.107298313736037
观察: [ 0.24544087 0.94960684 0.66677517 -0.7835077 -0.5929364 -0.29686130. 0. ]
得分: -0.5472611013563438
观察: [ 0.3148238 0.75122666 0.7238519 -0.98458177 -0.72915816 -0.261308820. 0. ]
得分: -2.5665300894414416
观察: [ 0.38628978 0.49828076 0.74157137 -1.2624744 -0.85754734 -0.372275530. 0. ]
得分: -3.2562193227533087
观察: [ 0.46820658 0.18855602 0.92624503 -1.4677961 -1.08614 -0.45089950. 0. ]
得分: -4.017106927961208
观察: [ 0.57930076 -0.09440845 1.4345247 -0.693939 -2.0783656 -5.40391641. 0. ]
得分: -100
观察: [ 0.7383894 -0.08930686 1.4662493 -0.13461255 -3.653495 -3.1090810. 0. ]
得分: -100
观察: [ 0.859124 -0.08471288 0.9377837 0.21408719 -3.8998525 0.101514180. 0. ]
得分: -100
观察: [ 9.3801367e-01 -4.6761338e-02 6.5999150e-01 1.4583524e-01-3.9281998e+00 -4.7179851e-06 0.0000000e+00 1.0000000e+00]
得分: -100
观察: [ 0.9879366 -0.04012476 0.33624884 0.08859511 -4.253908 -1.02333030. 0. ]
得分: -100
观察: [ 1.0056045 -0.03840658 0.0733737 0.01812508 -4.6796274 -0.61039910. 0. ]
得分: -100
观察: [ 1.0112988 -0.03921754 0.07890484 -0.00624387 -4.845023 -0.171116580. 0. ]
得分: -100
观察: [ 1.0234139 -0.04488504 0.15701209 -0.0331554 -4.829875 0.076026840. 0. ]
得分: -100
观察: [ 1.0306002e+00 -4.8987642e-02 -1.1189224e-02 8.7506004e-04-4.8712435e+00 -1.5446089e-01 0.0000000e+00 0.0000000e+00]
得分: -100
PPO 算法实现月球登录器
PPO
import numpy as np
import tensorflow as tf
from tensorflow_probability.python.distributions import Categoricalclass Memory:def __init__(self):"""初始化"""self.actions = [] # 行动(共4种)self.states = [] # 状态, 由8个数字组成self.logprobs = [] # 概率self.rewards = [] # 奖励self.is_terminals = [] # 游戏是否结束def clear_memory(self):"""清除memory"""del self.actions[:]del self.states[:]del self.logprobs[:]del self.rewards[:]del self.is_terminals[:]class ActorCritic(tf.keras.Model):def __init__(self, state_dim, action_dim, n_latent_var):super(ActorCritic, self).__init__()# 行动self.action_layer = tf.keras.Sequential([# [b, 8] => [b, 64]tf.keras.layers.Dense(n_latent_var, activation="tanh"),# [b, 64] => [b, 64]tf.keras.layers.Dense(n_latent_var, activation="tanh"),# [b, 64] => [b, 4]tf.keras.layers.Dense(action_dim, activation="softmax")])# 评判self.value_layer = tf.keras.Sequential([# [b, 8] => [b, 64]tf.keras.layers.Dense(n_latent_var, activation="tanh"),# [b, 64] => [b, 64]tf.keras.layers.Dense(n_latent_var, activation="tanh"),# [b, 64] => [b, 1]tf.keras.layers.Dense(1)])def forward(self):"""前向传播, 由act替代"""raise NotImplementedErrordef build(self, input_shape):# No weight to train.super(ActorCritic, self).build(input_shape) # Be sure to call this at the enddef act(self, state, memory):"""计算行动"""# 计算4个方向概率action_probs = self.action_layer(state)# 通过最大概率计算最终行动方向dist = Categorical(action_probs)action = dist.sample()# 存入memorymemory.states.append(state)memory.actions.append(action)memory.logprobs.append(dist.log_prob(action))# 返回行动return action.numpy()[0]def evaluate(self, state, action):"""评估:param state: 状态, 2000个一组, 形状为 [2000, 8]:param action: 行动, 2000个一组, 形状为 [2000]:return:"""# 计算行动概率action_probs = self.action_layer(state)dist = Categorical(action_probs) # 转换成类别分布# 计算概率密度, log(概率)action_logprobs = dist.log_prob(action)# 计算熵dist_entropy = dist.entropy()dist_entropy = tf.squeeze(dist_entropy)# 评判state_value = self.value_layer(state)state_value = tf.squeeze(state_value) # [2000, 1] => [2000]# 返回行动概率密度, 评判值, 行动概率熵return action_logprobs, state_value, dist_entropyclass PPO:def __init__(self, state_dim, action_dim, n_latent_var, lr, betas, gamma, K_epochs, eps_clip):self.lr = lr # 学习率self.betas = betas # betasself.gamma = gamma # gammaself.eps_clip = eps_clip # 裁剪, 限制值范围self.K_epochs = K_epochs # 迭代次数# 初始化policyself.policy = ActorCritic(state_dim, action_dim, n_latent_var)self.policy_old = ActorCritic(state_dim, action_dim, n_latent_var)self.optimizer = tf.keras.optimizers.Adam(lr=lr) # 优化器self.MseLoss = tf.keras.losses.MeanSquaredError() # 损失函数def update(self, memory):"""更新梯度"""# 蒙特卡罗预测状态回报rewards = []discounted_reward = 0for reward, is_terminal in zip(reversed(memory.rewards), reversed(memory.is_terminals)):# 回合结束if is_terminal:discounted_reward = 0# 更新削减奖励(当前状态奖励 + 0.99*上一状态奖励discounted_reward = reward + (self.gamma * discounted_reward)# 首插入rewards.insert(0, discounted_reward)# 标准化奖励rewards = tf.convert_to_tensor(rewards, dtype=tf.float32)rewards = (rewards - np.mean(rewards)) / (np.std(rewards) + 1e-5)# 张量转换old_states = tf.stack(memory.states)old_actions = tf.stack(memory.actions)old_logprobs = tf.stack(memory.logprobs)# 迭代优化 K 次:for _ in range(self.K_epochs):with tf.GradientTape() as tape:# 评估logprobs, state_values, dist_entropy = self.policy.evaluate(old_states, old_actions)# 计算ratiosratios = tf.exp(logprobs - old_logprobs)ratios = tf.squeeze(ratios)# 计算损失advantages = rewards - state_valuessurr1 = ratios * advantagessurr2 = tf.clip_by_value(ratios, 1 - self.eps_clip, 1 + self.eps_clip) * advantagesloss = -tf.minimum(surr1, surr2) + 0.5 * self.MseLoss(state_values, rewards) - 0.01 * dist_entropy# 更新梯度grads = tape.gradient(loss, self.policy.action_layer.trainable_variables + self.policy.value_layer.trainable_variables)self.optimizer.apply_gradients(zip(grads, self.policy.action_layer.trainable_variables + self.policy.value_layer.trainable_variables))# 将新的权重赋值给旧policyself.policy_old.action_layer = self.policy.action_layerself.policy_old.value_layer = self.policy.value_layermain
import gym
import tensorflow as tf
from PPO import Memory, PPO############## 超参数 ##############
env_name = "LunarLander-v2" # 游戏名字
env = gym.make(env_name)
state_dim = 8 # 状态维度
action_dim = 4 # 行动维度
render = False # 可视化
solved_reward = 230 # 停止循环条件 (奖励 > 230)
log_interval = 20 # print avg reward in the interval
max_episodes = 50000 # 最大迭代次数
max_timesteps = 300 # 最大单次游戏步数
n_latent_var = 64 # 全连接隐层维度
update_timestep = 2000 # 每2000步policy更新一次
lr = 0.002 # 学习率
betas = (0.9, 0.999) # betas
gamma = 0.99 # gamma
K_epochs = 4 # policy迭代更新次数
eps_clip = 0.2 # PPO 限幅#############################################def main():# 实例化memory = Memory()ppo = PPO(state_dim, action_dim, n_latent_var, lr, betas, gamma, K_epochs, eps_clip)# 存放total_reward = 0total_length = 0timestep = 0# 训练for i_episode in range(1, max_episodes + 1):# 环境初始化state = env.reset() # 初始化（重新玩）# 转换成tensorstate = tf.convert_to_tensor(state)state = tf.reshape(state, [1, 8])# 迭代for t in range(max_timesteps):timestep += 1# 用旧policy得到行动action = ppo.policy_old.act(state, memory)# 行动state, reward, done, _ = env.step(action) # 得到（新的状态，奖励，是否终止，额外的调试信息）# 转换成tensorstate = tf.convert_to_tensor(state)state = tf.reshape(state, [1, 8])# 更新memory(奖励/游戏是否结束)memory.rewards.append(reward)memory.is_terminals.append(done)# 更新梯度if timestep % update_timestep == 0:ppo.update(memory)# memory清零memory.clear_memory()# 累计步数清零timestep = 0# 累加total_reward += reward# 可视化if render:env.render()# 如果游戏结束, 退出if done:break# 游戏步长total_length += t# 如果达到要求(230分), 退出循环if total_reward >= (log_interval * solved_reward):print("########## Solved! ##########")# 保存模型tf.keras.models.save_model(ppo.policy.action_layer, r"\model\action")tf.keras.models.save_model(ppo.policy.value_layer, r"\model\value")# 退出循环break# 输出log, 每20次迭代if i_episode % log_interval == 0:# 求20次迭代平均时长/收益avg_length = int(total_length / log_interval)running_reward = int(total_reward / log_interval)# 调试输出print('Episode {} \t avg length: {} \t average_reward: {}'.format(i_episode, avg_length, running_reward))# 清零total_reward = 0total_length = 0if __name__ == '__main__':main()
输出结果
Episode 20 avg length: 93 reward: -243
Episode 40 avg length: 92 reward: -172
Episode 60 avg length: 79 reward: -192
Episode 80 avg length: 85 reward: -164
Episode 100 avg length: 90 reward: -179
Episode 120 avg length: 100 reward: -201
Episode 140 avg length: 91 reward: -175
Episode 160 avg length: 101 reward: -141
Episode 180 avg length: 86 reward: -153
Episode 200 avg length: 93 reward: -189
Episode 220 avg length: 96 reward: -221
Episode 240 avg length: 105 reward: -140
Episode 260 avg length: 94 reward: -121
Episode 280 avg length: 91 reward: -131
Episode 300 avg length: 91 reward: -122
Episode 320 avg length: 90 reward: -113
Episode 340 avg length: 100 reward: -110
Episode 360 avg length: 110 reward: -92
Episode 380 avg length: 110 reward: -75
Episode 400 avg length: 119 reward: -76
Episode 420 avg length: 162 reward: -77
Episode 440 avg length: 194 reward: -91
Episode 460 avg length: 144 reward: -28
Episode 480 avg length: 192 reward: -8
Episode 500 avg length: 244 reward: -25
Episode 520 avg length: 239 reward: -1
Episode 540 avg length: 269 reward: 21
Episode 560 avg length: 289 reward: 27
Episode 580 avg length: 270 reward: 65
Episode 600 avg length: 264 reward: 86
Episode 620 avg length: 256 reward: 66
Episode 640 avg length: 278 reward: 75
Episode 660 avg length: 235 reward: 11
Episode 680 avg length: 244 reward: 84
Episode 700 avg length: 253 reward: 73
Episode 720 avg length: 292 reward: 63
Episode 740 avg length: 293 reward: 104
Episode 760 avg length: 279 reward: 109
Episode 780 avg length: 246 reward: 86
Episode 800 avg length: 260 reward: 124
Episode 820 avg length: 276 reward: 131
Episode 840 avg length: 269 reward: 121
Episode 860 avg length: 194 reward: 67
Episode 880 avg length: 241 reward: 94
Episode 900 avg length: 259 reward: 98
Episode 920 avg length: 211 reward: 83
Episode 940 avg length: 260 reward: 105
Episode 960 avg length: 194 reward: 65
Episode 980 avg length: 202 reward: 68
Episode 1000 avg length: 243 reward: 79
Episode 1020 avg length: 260 reward: 66
Episode 1040 avg length: 289 reward: 117
Episode 1060 avg length: 252 reward: 94
Episode 1080 avg length: 262 reward: 114
Episode 1100 avg length: 272 reward: 112
Episode 1120 avg length: 263 reward: 97
Episode 1140 avg length: 256 reward: 93
Episode 1160 avg length: 274 reward: 120
Episode 1180 avg length: 256 reward: 117
Episode 1200 avg length: 241 reward: 105
Episode 1220 avg length: 238 reward: 103
Episode 1240 avg length: 267 reward: 121
Episode 1260 avg length: 283 reward: 124
Episode 1280 avg length: 299 reward: 149
Episode 1300 avg length: 281 reward: 126
Episode 1320 avg length: 266 reward: 102
Episode 1340 avg length: 282 reward: 128
Episode 1360 avg length: 275 reward: 114
Episode 1380 avg length: 285 reward: 105
Episode 1400 avg length: 294 reward: 123
Episode 1420 avg length: 293 reward: 132
Episode 1440 avg length: 248 reward: 85
Episode 1460 avg length: 281 reward: 115
Episode 1480 avg length: 291 reward: 152
Episode 1500 avg length: 279 reward: 130
Episode 1520 avg length: 267 reward: 103
Episode 1540 avg length: 270 reward: 137
Episode 1560 avg length: 269 reward: 120
Episode 1580 avg length: 260 reward: 113
Episode 1600 avg length: 282 reward: 147
Episode 1620 avg length: 259 reward: 125
Episode 1640 avg length: 240 reward: 90
Episode 1660 avg length: 284 reward: 125
Episode 1680 avg length: 282 reward: 123
Episode 1700 avg length: 274 reward: 123
Episode 1720 avg length: 273 reward: 130
Episode 1740 avg length: 260 reward: 117
Episode 1760 avg length: 243 reward: 106
Episode 1780 avg length: 241 reward: 90
Episode 1800 avg length: 290 reward: 144
Episode 1820 avg length: 258 reward: 131
Episode 1840 avg length: 283 reward: 142
Episode 1860 avg length: 262 reward: 100
Episode 1880 avg length: 273 reward: 132
Episode 1900 avg length: 255 reward: 92
Episode 1920 avg length: 251 reward: 117
Episode 1940 avg length: 220 reward: 103
Episode 1960 avg length: 221 reward: 111
Episode 1980 avg length: 205 reward: 83
Episode 2000 avg length: 227 reward: 102
Episode 2020 avg length: 251 reward: 123
Episode 2040 avg length: 227 reward: 100
Episode 2060 avg length: 255 reward: 135
Episode 2080 avg length: 273 reward: 136
Episode 2100 avg length: 256 reward: 126
Episode 2120 avg length: 273 reward: 141
Episode 2140 avg length: 280 reward: 109
Episode 2160 avg length: 266 reward: 112
Episode 2180 avg length: 249 reward: 88
Episode 2200 avg length: 247 reward: 119
Episode 2220 avg length: 270 reward: 143
Episode 2240 avg length: 257 reward: 65
Episode 2260 avg length: 250 reward: 30
Episode 2280 avg length: 261 reward: 112
Episode 2300 avg length: 270 reward: 139
Episode 2320 avg length: 275 reward: 128
Episode 2340 avg length: 290 reward: 149
Episode 2360 avg length: 269 reward: 139
Episode 2380 avg length: 272 reward: 137
Episode 2400 avg length: 232 reward: 105
Episode 2420 avg length: 242 reward: 127
Episode 2440 avg length: 241 reward: 134
Episode 2460 avg length: 249 reward: 113
Episode 2480 avg length: 287 reward: 154
Episode 2500 avg length: 289 reward: 149
Episode 2520 avg length: 258 reward: 129
Episode 2540 avg length: 250 reward: 101
Episode 2560 avg length: 287 reward: 158
Episode 2580 avg length: 271 reward: 145
Episode 2600 avg length: 253 reward: 120
Episode 2620 avg length: 255 reward: 127
Episode 2640 avg length: 254 reward: 122
Episode 2660 avg length: 238 reward: 123
Episode 2680 avg length: 243 reward: 115
Episode 2700 avg length: 241 reward: 93
Episode 2720 avg length: 232 reward: 90
Episode 2740 avg length: 215 reward: 83
Episode 2760 avg length: 241 reward: 112
Episode 2780 avg length: 273 reward: 129
Episode 2800 avg length: 269 reward: 133
Episode 2820 avg length: 246 reward: 91
Episode 2840 avg length: 261 reward: 130
Episode 2860 avg length: 261 reward: 136
Episode 2880 avg length: 289 reward: 128
Episode 2900 avg length: 271 reward: 131
Episode 2920 avg length: 277 reward: 145
Episode 2940 avg length: 251 reward: 117
Episode 2960 avg length: 253 reward: 120
Episode 2980 avg length: 270 reward: 133
Episode 3000 avg length: 240 reward: 85
Episode 3020 avg length: 284 reward: 141
Episode 3040 avg length: 255 reward: 117
Episode 3060 avg length: 299 reward: 134
Episode 3080 avg length: 263 reward: 122
Episode 3100 avg length: 259 reward: 126
Episode 3120 avg length: 270 reward: 125
Episode 3140 avg length: 299 reward: 150
Episode 3160 avg length: 256 reward: 116
Episode 3180 avg length: 264 reward: 124
Episode 3200 avg length: 271 reward: 128
Episode 3220 avg length: 259 reward: 122
Episode 3240 avg length: 261 reward: 125
Episode 3260 avg length: 271 reward: 129
Episode 3280 avg length: 242 reward: 126
Episode 3300 avg length: 218 reward: 93
Episode 3320 avg length: 230 reward: 116
Episode 3340 avg length: 223 reward: 109
Episode 3360 avg length: 249 reward: 122
Episode 3380 avg length: 224 reward: 104
Episode 3400 avg length: 261 reward: 131
Episode 3420 avg length: 280 reward: 140
Episode 3440 avg length: 264 reward: 125
Episode 3460 avg length: 247 reward: 105
Episode 3480 avg length: 276 reward: 141
Episode 3500 avg length: 282 reward: 149
Episode 3520 avg length: 282 reward: 141
Episode 3540 avg length: 290 reward: 152
Episode 3560 avg length: 282 reward: 141
Episode 3580 avg length: 291 reward: 151
Episode 3600 avg length: 289 reward: 166
Episode 3620 avg length: 266 reward: 142
Episode 3640 avg length: 277 reward: 91
Episode 3660 avg length: 272 reward: 114
Episode 3680 avg length: 281 reward: 159
Episode 3700 avg length: 287 reward: 160
Episode 3720 avg length: 254 reward: 78
Episode 3740 avg length: 296 reward: 174
Episode 3760 avg length: 267 reward: 124
Episode 3780 avg length: 273 reward: 148
Episode 3800 avg length: 275 reward: 147
Episode 3820 avg length: 276 reward: 145
Episode 3840 avg length: 283 reward: 151
Episode 3860 avg length: 275 reward: 142
Episode 3880 avg length: 290 reward: 142
Episode 3900 avg length: 290 reward: 154
Episode 3920 avg length: 283 reward: 141
Episode 3940 avg length: 273 reward: 145
Episode 3960 avg length: 290 reward: 161
Episode 3980 avg length: 268 reward: 145
Episode 4000 avg length: 270 reward: 142
Episode 4020 avg length: 283 reward: 156
Episode 4040 avg length: 283 reward: 149
Episode 4060 avg length: 299 reward: 172
Episode 4080 avg length: 292 reward: 158
Episode 4100 avg length: 274 reward: 143
Episode 4120 avg length: 299 reward: 163
Episode 4140 avg length: 290 reward: 153
Episode 4160 avg length: 299 reward: 165
Episode 4180 avg length: 290 reward: 160
Episode 4200 avg length: 299 reward: 157
Episode 4220 avg length: 299 reward: 171
Episode 4240 avg length: 271 reward: 148
Episode 4260 avg length: 265 reward: 139
Episode 4280 avg length: 258 reward: 137
Episode 4300 avg length: 280 reward: 137
Episode 4320 avg length: 262 reward: 133
Episode 4340 avg length: 255 reward: 110
Episode 4360 avg length: 275 reward: 134
Episode 4380 avg length: 282 reward: 154
Episode 4400 avg length: 264 reward: 128
Episode 4420 avg length: 299 reward: 150
Episode 4440 avg length: 275 reward: 151
Episode 4460 avg length: 257 reward: 116
Episode 4480 avg length: 256 reward: 104
Episode 4500 avg length: 263 reward: 134
Episode 4520 avg length: 299 reward: 164
Episode 4540 avg length: 265 reward: 137
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Episode 16180 avg length: 275 reward: 128
Episode 16200 avg length: 269 reward: 132
Episode 16220 avg length: 280 reward: 132
Episode 16240 avg length: 279 reward: 145
Episode 16260 avg length: 299 reward: 152
Episode 16280 avg length: 238 reward: 112
Episode 16300 avg length: 284 reward: 159
Episode 16320 avg length: 280 reward: 136
Episode 16340 avg length: 271 reward: 120
Episode 16360 avg length: 281 reward: 139
Episode 16380 avg length: 267 reward: 141
Episode 16400 avg length: 299 reward: 164
Episode 16420 avg length: 239 reward: 113
Episode 16440 avg length: 276 reward: 143
Episode 16460 avg length: 268 reward: 144
Episode 16480 avg length: 269 reward: 134
Episode 16500 avg length: 273 reward: 148
Episode 16520 avg length: 247 reward: 97
Episode 16540 avg length: 266 reward: 129
Episode 16560 avg length: 267 reward: 119
Episode 16580 avg length: 270 reward: 124
Episode 16600 avg length: 262 reward: 101
Episode 16620 avg length: 257 reward: 121
Episode 16640 avg length: 233 reward: 99
Episode 16660 avg length: 268 reward: 114
Episode 16680 avg length: 261 reward: 126
Episode 16700 avg length: 278 reward: 143
Episode 16720 avg length: 278 reward: 117
Episode 16740 avg length: 266 reward: 135
Episode 16760 avg length: 282 reward: 140
Episode 16780 avg length: 299 reward: 154
Episode 16800 avg length: 279 reward: 144
Episode 16820 avg length: 281 reward: 124
Episode 16840 avg length: 280 reward: 132
Episode 16860 avg length: 278 reward: 148
Episode 16880 avg length: 280 reward: 113
Episode 16900 avg length: 268 reward: 133
Episode 16920 avg length: 291 reward: 147
Episode 16940 avg length: 274 reward: 150
Episode 16960 avg length: 281 reward: 137
Episode 16980 avg length: 251 reward: 126
Episode 17000 avg length: 261 reward: 135
Episode 17020 avg length: 267 reward: 105
Episode 17040 avg length: 274 reward: 176
Episode 17060 avg length: 262 reward: 131
Episode 17080 avg length: 186 reward: 184
Episode 17100 avg length: 225 reward: 150
Episode 17120 avg length: 201 reward: 218
Episode 17140 avg length: 211 reward: 220
Episode 17160 avg length: 221 reward: 218
Episode 17180 avg length: 232 reward: 210
Episode 17200 avg length: 216 reward: 220
Episode 17220 avg length: 226 reward: 203
Episode 17240 avg length: 198 reward: 170
Episode 17260 avg length: 196 reward: 222
Episode 17280 avg length: 214 reward: 196
Episode 17300 avg length: 229 reward: 205
Episode 17320 avg length: 183 reward: 192
Episode 17340 avg length: 212 reward: 186
Episode 17360 avg length: 192 reward: 164
########## Solved! ##########
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