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 -0.05729095 0. 0. ]得分: 0.4097546298543773观察: [ 0.04917412 1.3876126 0.41002613 -0.13066985 -0.06578191 -0.12604967 0. 0. ]得分: -1.0858669952763478观察: [ 0.08917055 1.3429415 0.43598312 -0.2890789 -0.17471936 -0.23913136 0. 0. ]得分: -2.9339827504803666观察: [ 0.1326253 1.2450166 0.44708318 -0.5567949 -0.32039645 -0.28250334 0. 0. ]得分: -2.2779730990326357观察: [ 0.18323365 1.1110108 0.615291 -0.61922276 -0.43743232 -0.2921057 0. 0. ]得分: -3.107298313736037观察: [ 0.24544087 0.94960684 0.66677517 -0.7835077 -0.5929364 -0.2968613 0. 0. ]得分: -0.5472611013563438观察: [ 0.3148238 0.75122666 0.7238519 -0.98458177 -0.72915816 -0.26130882 0. 0. ]得分: -2.5665300894414416观察: [ 0.38628978 0.49828076 0.74157137 -1.2624744 -0.85754734 -0.37227553 0. 0. ]得分: -3.2562193227533087观察: [ 0.46820658 0.18855602 0.92624503 -1.4677961 -1.08614 -0.4508995 0. 0. ]得分: -4.017106927961208观察: [ 0.57930076 -0.09440845 1.4345247 -0.693939 -2.0783656 -5.4039164 1. 0. ]得分: -100观察: [ 0.7383894 -0.08930686 1.4662493 -0.13461255 -3.653495 -3.109081 0. 0. ]得分: -100观察: [ 0.859124 -0.08471288 0.9377837 0.21408719 -3.8998525 0.10151418 0. 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 -1.0233303 0. 0. ]得分: -100观察: [ 1.0056045 -0.03840658 0.0733737 0.01812508 -4.6796274 -0.6103991 0. 0. ]得分: -100观察: [ 1.0112988 -0.03921754 0.07890484 -0.00624387 -4.845023 -0.17111658 0. 0. ]得分: -100观察: [ 1.0234139 -0.04488504 0.15701209 -0.0331554 -4.829875 0.07602684 0. 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: -100PPO 算法实现月球登录器
PPO
import numpy as npimport tensorflow as tffrom 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 NotImplementedError def build(self, input_shape): # No weight to train. super(ActorCritic, self).build(input_shape) # Be sure to call this at the end def 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memory memory.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 # betas self.gamma = gamma # gamma self.eps_clip = eps_clip # 裁剪, 限制值范围 self.K_epochs = K_epochs # 迭代次数 # 初始化policy self.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 = 0 for 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ratios ratios = tf.exp(logprobs - old_logprobs) ratios = tf.squeeze(ratios) # 计算损失 advantages = rewards - state_values surr1 = ratios * advantages surr2 = tf.clip_by_value(ratios, 1 - self.eps_clip, 1 + self.eps_clip) * advantages loss = -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policy self.policy_old.action_layer = self.policy.action_layer self.policy_old.value_layer = self.policy.value_layermain
import gymimport tensorflow as tffrom 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 intervalmax_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) # betasgamma = 0.99 # gammaK_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 = 0 total_length = 0 timestep = 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tensor state = 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tensor state = 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 = 0 total_length = 0if __name__ == '__main__': main()输出结果
Episode 20 avg length: 93 reward: -243Episode 40 avg length: 92 reward: -172Episode 60 avg length: 79 reward: -192Episode 80 avg length: 85 reward: -164Episode 100 avg length: 90 reward: -179Episode 120 avg length: 100 reward: -201Episode 140 avg length: 91 reward: -175Episode 160 avg length: 101 reward: -141Episode 180 avg length: 86 reward: -153Episode 200 avg length: 93 reward: -189Episode 220 avg length: 96 reward: -221Episode 240 avg length: 105 reward: -140Episode 260 avg length: 94 reward: -121Episode 280 avg length: 91 reward: -131Episode 300 avg length: 91 reward: -122Episode 320 avg length: 90 reward: -113Episode 340 avg length: 100 reward: -110Episode 360 avg length: 110 reward: -92Episode 380 avg length: 110 reward: -75Episode 400 avg length: 119 reward: -76Episode 420 avg length: 162 reward: -77Episode 440 avg length: 194 reward: -91Episode 460 avg length: 144 reward: -28Episode 480 avg length: 192 reward: -8Episode 500 avg length: 244 reward: -25Episode 520 avg length: 239 reward: -1Episode 540 avg length: 269 reward: 21Episode 560 avg length: 289 reward: 27Episode 580 avg length: 270 reward: 65Episode 600 avg length: 264 reward: 86Episode 620 avg length: 256 reward: 66Episode 640 avg length: 278 reward: 75Episode 660 avg length: 235 reward: 11Episode 680 avg length: 244 reward: 84Episode 700 avg length: 253 reward: 73Episode 720 avg length: 292 reward: 63Episode 740 avg length: 293 reward: 104Episode 760 avg length: 279 reward: 109Episode 780 avg length: 246 reward: 86Episode 800 avg length: 260 reward: 124Episode 820 avg length: 276 reward: 131Episode 840 avg length: 269 reward: 121Episode 860 avg length: 194 reward: 67Episode 880 avg length: 241 reward: 94Episode 900 avg length: 259 reward: 98Episode 920 avg length: 211 reward: 83Episode 940 avg length: 260 reward: 105Episode 960 avg length: 194 reward: 65Episode 980 avg length: 202 reward: 68Episode 1000 avg length: 243 reward: 79Episode 1020 avg length: 260 reward: 66Episode 1040 avg length: 289 reward: 117Episode 1060 avg length: 252 reward: 94Episode 1080 avg length: 262 reward: 114Episode 1100 avg length: 272 reward: 112Episode 1120 avg length: 263 reward: 97Episode 1140 avg length: 256 reward: 93Episode 1160 avg length: 274 reward: 120Episode 1180 avg length: 256 reward: 117Episode 1200 avg length: 241 reward: 105Episode 1220 avg length: 238 reward: 103Episode 1240 avg length: 267 reward: 121Episode 1260 avg length: 283 reward: 124Episode 1280 avg length: 299 reward: 149Episode 1300 avg length: 281 reward: 126Episode 1320 avg length: 266 reward: 102Episode 1340 avg length: 282 reward: 128Episode 1360 avg length: 275 reward: 114Episode 1380 avg length: 285 reward: 105Episode 1400 avg length: 294 reward: 123Episode 1420 avg length: 293 reward: 132Episode 1440 avg length: 248 reward: 85Episode 1460 avg length: 281 reward: 115Episode 1480 avg length: 291 reward: 152Episode 1500 avg length: 279 reward: 130Episode 1520 avg length: 267 reward: 103Episode 1540 avg length: 270 reward: 137Episode 1560 avg length: 269 reward: 120Episode 1580 avg length: 260 reward: 113Episode 1600 avg length: 282 reward: 147Episode 1620 avg length: 259 reward: 125Episode 1640 avg length: 240 reward: 90Episode 1660 avg length: 284 reward: 125Episode 1680 avg length: 282 reward: 123Episode 1700 avg length: 274 reward: 123Episode 1720 avg length: 273 reward: 130Episode 1740 avg length: 260 reward: 117Episode 1760 avg length: 243 reward: 106Episode 1780 avg length: 241 reward: 90Episode 1800 avg length: 290 reward: 144Episode 1820 avg length: 258 reward: 131Episode 1840 avg length: 283 reward: 142Episode 1860 avg length: 262 reward: 100Episode 1880 avg length: 273 reward: 132Episode 1900 avg length: 255 reward: 92Episode 1920 avg length: 251 reward: 117Episode 1940 avg length: 220 reward: 103Episode 1960 avg length: 221 reward: 111Episode 1980 avg length: 205 reward: 83Episode 2000 avg length: 227 reward: 102Episode 2020 avg length: 251 reward: 123Episode 2040 avg length: 227 reward: 100Episode 2060 avg length: 255 reward: 135Episode 2080 avg length: 273 reward: 136Episode 2100 avg length: 256 reward: 126Episode 2120 avg length: 273 reward: 141Episode 2140 avg length: 280 reward: 109Episode 2160 avg length: 266 reward: 112Episode 2180 avg length: 249 reward: 88Episode 2200 avg length: 247 reward: 119Episode 2220 avg length: 270 reward: 143Episode 2240 avg length: 257 reward: 65Episode 2260 avg length: 250 reward: 30Episode 2280 avg length: 261 reward: 112Episode 2300 avg length: 270 reward: 139Episode 2320 avg length: 275 reward: 128Episode 2340 avg length: 290 reward: 149Episode 2360 avg length: 269 reward: 139Episode 2380 avg length: 272 reward: 137Episode 2400 avg length: 232 reward: 105Episode 2420 avg length: 242 reward: 127Episode 2440 avg length: 241 reward: 134Episode 2460 avg length: 249 reward: 113Episode 2480 avg length: 287 reward: 154Episode 2500 avg length: 289 reward: 149Episode 2520 avg length: 258 reward: 129Episode 2540 avg length: 250 reward: 101Episode 2560 avg length: 287 reward: 158Episode 2580 avg length: 271 reward: 145Episode 2600 avg length: 253 reward: 120Episode 2620 avg length: 255 reward: 127Episode 2640 avg length: 254 reward: 122Episode 2660 avg length: 238 reward: 123Episode 2680 avg length: 243 reward: 115Episode 2700 avg length: 241 reward: 93Episode 2720 avg length: 232 reward: 90Episode 2740 avg length: 215 reward: 83Episode 2760 avg length: 241 reward: 112Episode 2780 avg length: 273 reward: 129Episode 2800 avg length: 269 reward: 133Episode 2820 avg length: 246 reward: 91Episode 2840 avg length: 261 reward: 130Episode 2860 avg length: 261 reward: 136Episode 2880 avg length: 289 reward: 128Episode 2900 avg length: 271 reward: 131Episode 2920 avg length: 277 reward: 145Episode 2940 avg length: 251 reward: 117Episode 2960 avg length: 253 reward: 120Episode 2980 avg length: 270 reward: 133Episode 3000 avg length: 240 reward: 85Episode 3020 avg length: 284 reward: 141Episode 3040 avg length: 255 reward: 117Episode 3060 avg length: 299 reward: 134Episode 3080 avg length: 263 reward: 122Episode 3100 avg length: 259 reward: 126Episode 3120 avg length: 270 reward: 125Episode 3140 avg length: 299 reward: 150Episode 3160 avg length: 256 reward: 116Episode 3180 avg length: 264 reward: 124Episode 3200 avg length: 271 reward: 128Episode 3220 avg length: 259 reward: 122Episode 3240 avg length: 261 reward: 125Episode 3260 avg length: 271 reward: 129Episode 3280 avg length: 242 reward: 126Episode 3300 avg length: 218 reward: 93Episode 3320 avg length: 230 reward: 116Episode 3340 avg length: 223 reward: 109Episode 3360 avg length: 249 reward: 122Episode 3380 avg length: 224 reward: 104Episode 3400 avg length: 261 reward: 131Episode 3420 avg length: 280 reward: 140Episode 3440 avg length: 264 reward: 125Episode 3460 avg length: 247 reward: 105Episode 3480 avg length: 276 reward: 141Episode 3500 avg length: 282 reward: 149Episode 3520 avg length: 282 reward: 141Episode 3540 avg length: 290 reward: 152Episode 3560 avg length: 282 reward: 141Episode 3580 avg length: 291 reward: 151Episode 3600 avg length: 289 reward: 166Episode 3620 avg length: 266 reward: 142Episode 3640 avg length: 277 reward: 91Episode 3660 avg length: 272 reward: 114Episode 3680 avg length: 281 reward: 159Episode 3700 avg length: 287 reward: 160Episode 3720 avg length: 254 reward: 78Episode 3740 avg length: 296 reward: 174Episode 3760 avg length: 267 reward: 124Episode 3780 avg length: 273 reward: 148Episode 3800 avg length: 275 reward: 147Episode 3820 avg length: 276 reward: 145Episode 3840 avg length: 283 reward: 151Episode 3860 avg length: 275 reward: 142Episode 3880 avg length: 290 reward: 142Episode 3900 avg length: 290 reward: 154Episode 3920 avg length: 283 reward: 141Episode 3940 avg length: 273 reward: 145Episode 3960 avg length: 290 reward: 161Episode 3980 avg length: 268 reward: 145Episode 4000 avg length: 270 reward: 142Episode 4020 avg length: 283 reward: 156Episode 4040 avg length: 283 reward: 149Episode 4060 avg length: 299 reward: 172Episode 4080 avg length: 292 reward: 158Episode 4100 avg length: 274 reward: 143Episode 4120 avg length: 299 reward: 163Episode 4140 avg length: 290 reward: 153Episode 4160 avg length: 299 reward: 165Episode 4180 avg length: 290 reward: 160Episode 4200 avg length: 299 reward: 157Episode 4220 avg length: 299 reward: 171Episode 4240 avg length: 271 reward: 148Episode 4260 avg length: 265 reward: 139Episode 4280 avg length: 258 reward: 137Episode 4300 avg length: 280 reward: 137Episode 4320 avg length: 262 reward: 133Episode 4340 avg length: 255 reward: 110Episode 4360 avg length: 275 reward: 134Episode 4380 avg length: 282 reward: 154Episode 4400 avg length: 264 reward: 128Episode 4420 avg length: 299 reward: 150Episode 4440 avg length: 275 reward: 151Episode 4460 avg length: 257 reward: 116Episode 4480 avg length: 256 reward: 104Episode 4500 avg length: 263 reward: 134Episode 4520 avg length: 299 reward: 164Episode 4540 avg length: 265 reward: 137Episode 4560 avg length: 265 reward: 147Episode 4580 avg length: 283 reward: 138Episode 4600 avg length: 299 reward: 152Episode 4620 avg length: 281 reward: 154Episode 4640 avg length: 289 reward: 161Episode 4660 avg length: 264 reward: 143Episode 4680 avg length: 285 reward: 138Episode 4700 avg length: 291 reward: 143Episode 4720 avg length: 280 reward: 154Episode 4740 avg length: 284 reward: 125Episode 4760 avg length: 296 reward: 136Episode 4780 avg length: 254 reward: 127Episode 4800 avg length: 281 reward: 147Episode 4820 avg length: 282 reward: 143Episode 4840 avg length: 243 reward: 119Episode 4860 avg length: 280 reward: 139Episode 4880 avg length: 270 reward: 137Episode 4900 avg length: 278 reward: 150Episode 4920 avg length: 203 reward: 83Episode 4940 avg length: 272 reward: 153Episode 4960 avg length: 289 reward: 151Episode 4980 avg length: 289 reward: 157Episode 5000 avg length: 299 reward: 168Episode 5020 avg length: 292 reward: 136Episode 5040 avg length: 290 reward: 158Episode 5060 avg length: 286 reward: 157Episode 5080 avg length: 282 reward: 154Episode 5100 avg length: 278 reward: 121Episode 5120 avg length: 291 reward: 138Episode 5140 avg length: 297 reward: 143Episode 5160 avg length: 290 reward: 165Episode 5180 avg length: 290 reward: 157Episode 5200 avg length: 276 reward: 150Episode 5220 avg length: 278 reward: 149Episode 5240 avg length: 287 reward: 153Episode 5260 avg length: 274 reward: 145Episode 5280 avg length: 299 reward: 176Episode 5300 avg length: 299 reward: 173Episode 5320 avg length: 299 reward: 164Episode 5340 avg length: 271 reward: 157Episode 5360 avg length: 299 reward: 180Episode 5380 avg length: 279 reward: 156Episode 5400 avg length: 268 reward: 133Episode 5420 avg length: 279 reward: 136Episode 5440 avg length: 278 reward: 130Episode 5460 avg length: 268 reward: 137Episode 5480 avg length: 273 reward: 152Episode 5500 avg length: 299 reward: 168Episode 5520 avg length: 266 reward: 95Episode 5540 avg length: 294 reward: 146Episode 5560 avg length: 289 reward: 165Episode 5580 avg length: 288 reward: 139Episode 5600 avg length: 299 reward: 174Episode 5620 avg length: 291 reward: 168Episode 5640 avg length: 281 reward: 147Episode 5660 avg length: 270 reward: 126Episode 5680 avg length: 263 reward: 153Episode 5700 avg length: 283 reward: 161Episode 5720 avg length: 271 reward: 154Episode 5740 avg length: 281 reward: 154Episode 5760 avg length: 281 reward: 144Episode 5780 avg length: 272 reward: 145Episode 5800 avg length: 275 reward: 128Episode 5820 avg length: 290 reward: 159Episode 5840 avg length: 274 reward: 142Episode 5860 avg length: 243 reward: 122Episode 5880 avg length: 236 reward: 124Episode 5900 avg length: 255 reward: 139Episode 5920 avg length: 288 reward: 140Episode 5940 avg length: 271 reward: 140Episode 5960 avg length: 254 reward: 108Episode 5980 avg length: 299 reward: 149Episode 6000 avg length: 289 reward: 149Episode 6020 avg length: 258 reward: 109Episode 6040 avg length: 289 reward: 129Episode 6060 avg length: 238 reward: 94Episode 6080 avg length: 270 reward: 87Episode 6100 avg length: 268 reward: 96Episode 6120 avg length: 279 reward: 142Episode 6140 avg length: 233 reward: 112Episode 6160 avg length: 268 reward: 142Episode 6180 avg length: 260 reward: 133Episode 6200 avg length: 210 reward: 109Episode 6220 avg length: 248 reward: 111Episode 6240 avg length: 229 reward: 92Episode 6260 avg length: 210 reward: 98Episode 6280 avg length: 218 reward: 102Episode 6300 avg length: 225 reward: 117Episode 6320 avg length: 235 reward: 112Episode 6340 avg length: 259 reward: 124Episode 6360 avg length: 252 reward: 113Episode 6380 avg length: 239 reward: 119Episode 6400 avg length: 242 reward: 95Episode 6420 avg length: 249 reward: 111Episode 6440 avg length: 257 reward: 136Episode 6460 avg length: 259 reward: 123Episode 6480 avg length: 259 reward: 112Episode 6500 avg length: 259 reward: 129Episode 6520 avg length: 215 reward: 101Episode 6540 avg length: 249 reward: 137Episode 6560 avg length: 245 reward: 121Episode 6580 avg length: 259 reward: 127Episode 6600 avg length: 267 reward: 142Episode 6620 avg length: 257 reward: 86Episode 6640 avg length: 278 reward: 141Episode 6660 avg length: 255 reward: 92Episode 6680 avg length: 289 reward: 145Episode 6700 avg length: 259 reward: 133Episode 6720 avg length: 247 reward: 116Episode 6740 avg length: 243 reward: 56Episode 6760 avg length: 274 reward: 114Episode 6780 avg length: 279 reward: 133Episode 6800 avg length: 269 reward: 152Episode 6820 avg length: 252 reward: 105Episode 6840 avg length: 254 reward: 123Episode 6860 avg length: 253 reward: 98Episode 6880 avg length: 273 reward: 132Episode 6900 avg length: 249 reward: 108Episode 6920 avg length: 248 reward: 84Episode 6940 avg length: 250 reward: 107Episode 6960 avg length: 279 reward: 99Episode 6980 avg length: 279 reward: 140Episode 7000 avg length: 270 reward: 105Episode 7020 avg length: 250 reward: 109Episode 7040 avg length: 202 reward: 87Episode 7060 avg length: 188 reward: 56Episode 7080 avg length: 229 reward: 93Episode 7100 avg length: 248 reward: 105Episode 7120 avg length: 218 reward: 105Episode 7140 avg length: 213 reward: 77Episode 7160 avg length: 279 reward: 128Episode 7180 avg length: 247 reward: 110Episode 7200 avg length: 269 reward: 124Episode 7220 avg length: 217 reward: 64Episode 7240 avg length: 258 reward: 140Episode 7260 avg length: 279 reward: 116Episode 7280 avg length: 244 reward: 97Episode 7300 avg length: 245 reward: 104Episode 7320 avg length: 213 reward: 81Episode 7340 avg length: 268 reward: 126Episode 7360 avg length: 277 reward: 124Episode 7380 avg length: 251 reward: 122Episode 7400 avg length: 234 reward: 108Episode 7420 avg length: 267 reward: 127Episode 7440 avg length: 218 reward: 89Episode 7460 avg length: 199 reward: 80Episode 7480 avg length: 154 reward: 55Episode 7500 avg length: 228 reward: 114Episode 7520 avg length: 197 reward: 49Episode 7540 avg length: 147 reward: 59Episode 7560 avg length: 139 reward: 49Episode 7580 avg length: 181 reward: 74Episode 7600 avg length: 191 reward: 61Episode 7620 avg length: 176 reward: 78Episode 7640 avg length: 160 reward: 35Episode 7660 avg length: 159 reward: 50Episode 7680 avg length: 143 reward: 68Episode 7700 avg length: 227 reward: 103Episode 7720 avg length: 192 reward: 59Episode 7740 avg length: 248 reward: 118Episode 7760 avg length: 250 reward: 128Episode 7780 avg length: 261 reward: 110Episode 7800 avg length: 279 reward: 157Episode 7820 avg length: 249 reward: 153Episode 7840 avg length: 212 reward: 78Episode 7860 avg length: 249 reward: 144Episode 7880 avg length: 257 reward: 107Episode 7900 avg length: 271 reward: 136Episode 7920 avg length: 244 reward: 129Episode 7940 avg length: 262 reward: 145Episode 7960 avg length: 224 reward: 94Episode 7980 avg length: 247 reward: 110Episode 8000 avg length: 190 reward: 81Episode 8020 avg length: 157 reward: 67Episode 8040 avg length: 171 reward: 67Episode 8060 avg length: 203 reward: 96Episode 8080 avg length: 225 reward: 87Episode 8100 avg length: 166 reward: 84Episode 8120 avg length: 196 reward: 82Episode 8140 avg length: 249 reward: 120Episode 8160 avg length: 216 reward: 112Episode 8180 avg length: 178 reward: 97Episode 8200 avg length: 221 reward: 120Episode 8220 avg length: 265 reward: 122Episode 8240 avg length: 240 reward: 125Episode 8260 avg length: 266 reward: 146Episode 8280 avg length: 253 reward: 116Episode 8300 avg length: 233 reward: 129Episode 8320 avg length: 260 reward: 126Episode 8340 avg length: 264 reward: 138Episode 8360 avg length: 196 reward: 88Episode 8380 avg length: 189 reward: 60Episode 8400 avg length: 227 reward: 66Episode 8420 avg length: 257 reward: 114Episode 8440 avg length: 254 reward: 99Episode 8460 avg length: 268 reward: 127Episode 8480 avg length: 263 reward: 131Episode 8500 avg length: 246 reward: 107Episode 8520 avg length: 281 reward: 127Episode 8540 avg length: 273 reward: 146Episode 8560 avg length: 290 reward: 124Episode 8580 avg length: 261 reward: 103Episode 8600 avg length: 294 reward: 140Episode 8620 avg length: 236 reward: 110Episode 8640 avg length: 261 reward: 125Episode 8660 avg length: 284 reward: 108Episode 8680 avg length: 278 reward: 141Episode 8700 avg length: 256 reward: 124Episode 8720 avg length: 245 reward: 95Episode 8740 avg length: 258 reward: 136Episode 8760 avg length: 289 reward: 147Episode 8780 avg length: 229 reward: 98Episode 8800 avg length: 277 reward: 138Episode 8820 avg length: 237 reward: 129Episode 8840 avg length: 276 reward: 141Episode 8860 avg length: 224 reward: 102Episode 8880 avg length: 220 reward: 108Episode 8900 avg length: 277 reward: 137Episode 8920 avg length: 259 reward: 120Episode 8940 avg length: 242 reward: 124Episode 8960 avg length: 275 reward: 119Episode 8980 avg length: 256 reward: 140Episode 9000 avg length: 263 reward: 110Episode 9020 avg length: 247 reward: 101Episode 9040 avg length: 251 reward: 99Episode 9060 avg length: 266 reward: 128Episode 9080 avg length: 247 reward: 119Episode 9100 avg length: 227 reward: 95Episode 9120 avg length: 242 reward: 95Episode 9140 avg length: 234 reward: 120Episode 9160 avg length: 271 reward: 145Episode 9180 avg length: 234 reward: 106Episode 9200 avg length: 230 reward: 102Episode 9220 avg length: 217 reward: 111Episode 9240 avg length: 182 reward: 68Episode 9260 avg length: 225 reward: 111Episode 9280 avg length: 224 reward: 110Episode 9300 avg length: 195 reward: 97Episode 9320 avg length: 245 reward: 110Episode 9340 avg length: 249 reward: 87Episode 9360 avg length: 238 reward: 105Episode 9380 avg length: 231 reward: 83Episode 9400 avg length: 245 reward: 60Episode 9420 avg length: 251 reward: 81Episode 9440 avg length: 218 reward: 86Episode 9460 avg length: 177 reward: 62Episode 9480 avg length: 212 reward: 64Episode 9500 avg length: 213 reward: 96Episode 9520 avg length: 267 reward: 121Episode 9540 avg length: 195 reward: 89Episode 9560 avg length: 259 reward: 140Episode 9580 avg length: 246 reward: 116Episode 9600 avg length: 266 reward: 122Episode 9620 avg length: 255 reward: 104Episode 9640 avg length: 203 reward: 116Episode 9660 avg length: 239 reward: 117Episode 9680 avg length: 239 reward: 118Episode 9700 avg length: 254 reward: 137Episode 9720 avg length: 269 reward: 144Episode 9740 avg length: 274 reward: 136Episode 9760 avg length: 259 reward: 123Episode 9780 avg length: 230 reward: 102Episode 9800 avg length: 268 reward: 139Episode 9820 avg length: 258 reward: 120Episode 9840 avg length: 271 reward: 111Episode 9860 avg length: 260 reward: 130Episode 9880 avg length: 280 reward: 135Episode 9900 avg length: 269 reward: 126Episode 9920 avg length: 290 reward: 159Episode 9940 avg length: 286 reward: 129Episode 9960 avg length: 259 reward: 117Episode 9980 avg length: 299 reward: 139Episode 10000 avg length: 298 reward: 141Episode 10020 avg length: 294 reward: 115Episode 10040 avg length: 284 reward: 117Episode 10060 avg length: 299 reward: 156Episode 10080 avg length: 290 reward: 145Episode 10100 avg length: 280 reward: 151Episode 10120 avg length: 299 reward: 163Episode 10140 avg length: 290 reward: 151Episode 10160 avg length: 269 reward: 133Episode 10180 avg length: 259 reward: 134Episode 10200 avg length: 272 reward: 137Episode 10220 avg length: 260 reward: 121Episode 10240 avg length: 259 reward: 103Episode 10260 avg length: 260 reward: 126Episode 10280 avg length: 279 reward: 150Episode 10300 avg length: 268 reward: 128Episode 10320 avg length: 261 reward: 140Episode 10340 avg length: 243 reward: 111Episode 10360 avg length: 236 reward: 113Episode 10380 avg length: 219 reward: 112Episode 10400 avg length: 267 reward: 140Episode 10420 avg length: 279 reward: 146Episode 10440 avg length: 285 reward: 137Episode 10460 avg length: 255 reward: 107Episode 10480 avg length: 249 reward: 115Episode 10500 avg length: 241 reward: 106Episode 10520 avg length: 219 reward: 102Episode 10540 avg length: 200 reward: 52Episode 10560 avg length: 267 reward: 124Episode 10580 avg length: 235 reward: 111Episode 10600 avg length: 223 reward: 86Episode 10620 avg length: 220 reward: 90Episode 10640 avg length: 269 reward: 145Episode 10660 avg length: 255 reward: 133Episode 10680 avg length: 277 reward: 130Episode 10700 avg length: 280 reward: 142Episode 10720 avg length: 278 reward: 128Episode 10740 avg length: 260 reward: 90Episode 10760 avg length: 288 reward: 145Episode 10780 avg length: 238 reward: 94Episode 10800 avg length: 278 reward: 136Episode 10820 avg length: 288 reward: 150Episode 10840 avg length: 280 reward: 148Episode 10860 avg length: 240 reward: 117Episode 10880 avg length: 257 reward: 124Episode 10900 avg length: 261 reward: 130Episode 10920 avg length: 229 reward: 115Episode 10940 avg length: 259 reward: 144Episode 10960 avg length: 238 reward: 138Episode 10980 avg length: 230 reward: 112Episode 11000 avg length: 254 reward: 126Episode 11020 avg length: 281 reward: 141Episode 11040 avg length: 270 reward: 120Episode 11060 avg length: 297 reward: 174Episode 11080 avg length: 261 reward: 138Episode 11100 avg length: 259 reward: 125Episode 11120 avg length: 292 reward: 173Episode 11140 avg length: 275 reward: 146Episode 11160 avg length: 299 reward: 165Episode 11180 avg length: 299 reward: 175Episode 11200 avg length: 289 reward: 161Episode 11220 avg length: 299 reward: 166Episode 11240 avg length: 278 reward: 160Episode 11260 avg length: 290 reward: 142Episode 11280 avg length: 299 reward: 164Episode 11300 avg length: 279 reward: 155Episode 11320 avg length: 299 reward: 178Episode 11340 avg length: 299 reward: 150Episode 11360 avg length: 265 reward: 110Episode 11380 avg length: 288 reward: 156Episode 11400 avg length: 278 reward: 146Episode 11420 avg length: 268 reward: 141Episode 11440 avg length: 291 reward: 130Episode 11460 avg length: 299 reward: 161Episode 11480 avg length: 284 reward: 142Episode 11500 avg length: 262 reward: 132Episode 11520 avg length: 287 reward: 149Episode 11540 avg length: 288 reward: 150Episode 11560 avg length: 288 reward: 157Episode 11580 avg length: 288 reward: 156Episode 11600 avg length: 284 reward: 133Episode 11620 avg length: 287 reward: 152Episode 11640 avg length: 249 reward: 130Episode 11660 avg length: 240 reward: 106Episode 11680 avg length: 271 reward: 131Episode 11700 avg length: 271 reward: 117Episode 11720 avg length: 286 reward: 143Episode 11740 avg length: 293 reward: 150Episode 11760 avg length: 289 reward: 155Episode 11780 avg length: 290 reward: 137Episode 11800 avg length: 289 reward: 133Episode 11820 avg length: 273 reward: 121Episode 11840 avg length: 274 reward: 109Episode 11860 avg length: 261 reward: 147Episode 11880 avg length: 210 reward: 114Episode 11900 avg length: 245 reward: 143Episode 11920 avg length: 210 reward: 115Episode 11940 avg length: 218 reward: 102Episode 11960 avg length: 214 reward: 102Episode 11980 avg length: 269 reward: 133Episode 12000 avg length: 262 reward: 144Episode 12020 avg length: 235 reward: 131Episode 12040 avg length: 253 reward: 149Episode 12060 avg length: 227 reward: 120Episode 12080 avg length: 202 reward: 98Episode 12100 avg length: 240 reward: 117Episode 12120 avg length: 231 reward: 108Episode 12140 avg length: 230 reward: 122Episode 12160 avg length: 228 reward: 108Episode 12180 avg length: 233 reward: 96Episode 12200 avg length: 252 reward: 123Episode 12220 avg length: 272 reward: 154Episode 12240 avg length: 251 reward: 122Episode 12260 avg length: 273 reward: 147Episode 12280 avg length: 239 reward: 111Episode 12300 avg length: 287 reward: 126Episode 12320 avg length: 278 reward: 121Episode 12340 avg length: 258 reward: 120Episode 12360 avg length: 265 reward: 104Episode 12380 avg length: 279 reward: 118Episode 12400 avg length: 254 reward: 72Episode 12420 avg length: 187 reward: 74Episode 12440 avg length: 244 reward: 90Episode 12460 avg length: 228 reward: 116Episode 12480 avg length: 258 reward: 125Episode 12500 avg length: 247 reward: 118Episode 12520 avg length: 244 reward: 101Episode 12540 avg length: 267 reward: 135Episode 12560 avg length: 253 reward: 99Episode 12580 avg length: 285 reward: 135Episode 12600 avg length: 259 reward: 113Episode 12620 avg length: 256 reward: 108Episode 12640 avg length: 238 reward: 114Episode 12660 avg length: 265 reward: 128Episode 12680 avg length: 289 reward: 145Episode 12700 avg length: 287 reward: 147Episode 12720 avg length: 283 reward: 139Episode 12740 avg length: 255 reward: 108Episode 12760 avg length: 299 reward: 150Episode 12780 avg length: 277 reward: 138Episode 12800 avg length: 290 reward: 151Episode 12820 avg length: 284 reward: 159Episode 12840 avg length: 299 reward: 150Episode 12860 avg length: 289 reward: 146Episode 12880 avg length: 299 reward: 158Episode 12900 avg length: 299 reward: 144Episode 12920 avg length: 279 reward: 129Episode 12940 avg length: 282 reward: 132Episode 12960 avg length: 280 reward: 132Episode 12980 avg length: 278 reward: 108Episode 13000 avg length: 284 reward: 136Episode 13020 avg length: 289 reward: 128Episode 13040 avg length: 291 reward: 149Episode 13060 avg length: 299 reward: 140Episode 13080 avg length: 292 reward: 141Episode 13100 avg length: 290 reward: 139Episode 13120 avg length: 299 reward: 139Episode 13140 avg length: 291 reward: 151Episode 13160 avg length: 291 reward: 141Episode 13180 avg length: 299 reward: 169Episode 13200 avg length: 299 reward: 162Episode 13220 avg length: 299 reward: 170Episode 13240 avg length: 299 reward: 170Episode 13260 avg length: 299 reward: 155Episode 13280 avg length: 299 reward: 153Episode 13300 avg length: 299 reward: 163Episode 13320 avg length: 281 reward: 131Episode 13340 avg length: 289 reward: 153Episode 13360 avg length: 285 reward: 133Episode 13380 avg length: 280 reward: 134Episode 13400 avg length: 282 reward: 134Episode 13420 avg length: 268 reward: 114Episode 13440 avg length: 290 reward: 142Episode 13460 avg length: 270 reward: 145Episode 13480 avg length: 257 reward: 127Episode 13500 avg length: 272 reward: 139Episode 13520 avg length: 270 reward: 129Episode 13540 avg length: 279 reward: 149Episode 13560 avg length: 269 reward: 95Episode 13580 avg length: 270 reward: 113Episode 13600 avg length: 258 reward: 125Episode 13620 avg length: 217 reward: 88Episode 13640 avg length: 157 reward: 59Episode 13660 avg length: 132 reward: 41Episode 13680 avg length: 220 reward: 92Episode 13700 avg length: 241 reward: 109Episode 13720 avg length: 252 reward: 127Episode 13740 avg length: 253 reward: 104Episode 13760 avg length: 269 reward: 128Episode 13780 avg length: 230 reward: 96Episode 13800 avg length: 258 reward: 127Episode 13820 avg length: 290 reward: 151Episode 13840 avg length: 299 reward: 135Episode 13860 avg length: 280 reward: 111Episode 13880 avg length: 268 reward: 124Episode 13900 avg length: 255 reward: 93Episode 13920 avg length: 258 reward: 128Episode 13940 avg length: 244 reward: 127Episode 13960 avg length: 238 reward: 117Episode 13980 avg length: 237 reward: 104Episode 14000 avg length: 251 reward: 123Episode 14020 avg length: 267 reward: 114Episode 14040 avg length: 271 reward: 109Episode 14060 avg length: 247 reward: 117Episode 14080 avg length: 282 reward: 129Episode 14100 avg length: 266 reward: 144Episode 14120 avg length: 256 reward: 132Episode 14140 avg length: 267 reward: 140Episode 14160 avg length: 289 reward: 149Episode 14180 avg length: 262 reward: 95Episode 14200 avg length: 278 reward: 128Episode 14220 avg length: 279 reward: 136Episode 14240 avg length: 249 reward: 105Episode 14260 avg length: 235 reward: 112Episode 14280 avg length: 273 reward: 131Episode 14300 avg length: 278 reward: 130Episode 14320 avg length: 259 reward: 123Episode 14340 avg length: 234 reward: 78Episode 14360 avg length: 268 reward: 125Episode 14380 avg length: 294 reward: 153Episode 14400 avg length: 299 reward: 150Episode 14420 avg length: 278 reward: 129Episode 14440 avg length: 297 reward: 155Episode 14460 avg length: 247 reward: 106Episode 14480 avg length: 289 reward: 154Episode 14500 avg length: 270 reward: 133Episode 14520 avg length: 259 reward: 133Episode 14540 avg length: 280 reward: 151Episode 14560 avg length: 268 reward: 129Episode 14580 avg length: 299 reward: 159Episode 14600 avg length: 279 reward: 131Episode 14620 avg length: 242 reward: 100Episode 14640 avg length: 236 reward: 114Episode 14660 avg length: 253 reward: 132Episode 14680 avg length: 272 reward: 134Episode 14700 avg length: 297 reward: 175Episode 14720 avg length: 278 reward: 148Episode 14740 avg length: 289 reward: 154Episode 14760 avg length: 288 reward: 148Episode 14780 avg length: 278 reward: 140Episode 14800 avg length: 266 reward: 128Episode 14820 avg length: 288 reward: 161Episode 14840 avg length: 278 reward: 145Episode 14860 avg length: 290 reward: 161Episode 14880 avg length: 279 reward: 139Episode 14900 avg length: 284 reward: 155Episode 14920 avg length: 245 reward: 136Episode 14940 avg length: 269 reward: 137Episode 14960 avg length: 262 reward: 146Episode 14980 avg length: 299 reward: 154Episode 15000 avg length: 273 reward: 172Episode 15020 avg length: 278 reward: 142Episode 15040 avg length: 277 reward: 150Episode 15060 avg length: 232 reward: 119Episode 15080 avg length: 280 reward: 141Episode 15100 avg length: 260 reward: 137Episode 15120 avg length: 285 reward: 167Episode 15140 avg length: 280 reward: 149Episode 15160 avg length: 237 reward: 118Episode 15180 avg length: 223 reward: 111Episode 15200 avg length: 243 reward: 134Episode 15220 avg length: 269 reward: 138Episode 15240 avg length: 251 reward: 127Episode 15260 avg length: 289 reward: 157Episode 15280 avg length: 229 reward: 107Episode 15300 avg length: 277 reward: 143Episode 15320 avg length: 288 reward: 154Episode 15340 avg length: 289 reward: 149Episode 15360 avg length: 288 reward: 145Episode 15380 avg length: 260 reward: 134Episode 15400 avg length: 246 reward: 126Episode 15420 avg length: 244 reward: 132Episode 15440 avg length: 272 reward: 129Episode 15460 avg length: 267 reward: 134Episode 15480 avg length: 263 reward: 135Episode 15500 avg length: 280 reward: 141Episode 15520 avg length: 254 reward: 126Episode 15540 avg length: 275 reward: 133Episode 15560 avg length: 271 reward: 120Episode 15580 avg length: 270 reward: 130Episode 15600 avg length: 299 reward: 144Episode 15620 avg length: 254 reward: 88Episode 15640 avg length: 271 reward: 126Episode 15660 avg length: 289 reward: 153Episode 15680 avg length: 231 reward: 104Episode 15700 avg length: 227 reward: 127Episode 15720 avg length: 174 reward: 82Episode 15740 avg length: 214 reward: 92Episode 15760 avg length: 190 reward: 89Episode 15780 avg length: 159 reward: 49Episode 15800 avg length: 222 reward: 100Episode 15820 avg length: 269 reward: 133Episode 15840 avg length: 243 reward: 100Episode 15860 avg length: 191 reward: 68Episode 15880 avg length: 221 reward: 86Episode 15900 avg length: 206 reward: 109Episode 15920 avg length: 228 reward: 89Episode 15940 avg length: 250 reward: 108Episode 15960 avg length: 229 reward: 110Episode 15980 avg length: 263 reward: 139Episode 16000 avg length: 250 reward: 125Episode 16020 avg length: 270 reward: 140Episode 16040 avg length: 251 reward: 131Episode 16060 avg length: 258 reward: 124Episode 16080 avg length: 268 reward: 130Episode 16100 avg length: 263 reward: 125Episode 16120 avg length: 280 reward: 150Episode 16140 avg length: 267 reward: 132Episode 16160 avg length: 284 reward: 137Episode 16180 avg length: 275 reward: 128Episode 16200 avg length: 269 reward: 132Episode 16220 avg length: 280 reward: 132Episode 16240 avg length: 279 reward: 145Episode 16260 avg length: 299 reward: 152Episode 16280 avg length: 238 reward: 112Episode 16300 avg length: 284 reward: 159Episode 16320 avg length: 280 reward: 136Episode 16340 avg length: 271 reward: 120Episode 16360 avg length: 281 reward: 139Episode 16380 avg length: 267 reward: 141Episode 16400 avg length: 299 reward: 164Episode 16420 avg length: 239 reward: 113Episode 16440 avg length: 276 reward: 143Episode 16460 avg length: 268 reward: 144Episode 16480 avg length: 269 reward: 134Episode 16500 avg length: 273 reward: 148Episode 16520 avg length: 247 reward: 97Episode 16540 avg length: 266 reward: 129Episode 16560 avg length: 267 reward: 119Episode 16580 avg length: 270 reward: 124Episode 16600 avg length: 262 reward: 101Episode 16620 avg length: 257 reward: 121Episode 16640 avg length: 233 reward: 99Episode 16660 avg length: 268 reward: 114Episode 16680 avg length: 261 reward: 126Episode 16700 avg length: 278 reward: 143Episode 16720 avg length: 278 reward: 117Episode 16740 avg length: 266 reward: 135Episode 16760 avg length: 282 reward: 140Episode 16780 avg length: 299 reward: 154Episode 16800 avg length: 279 reward: 144Episode 16820 avg length: 281 reward: 124Episode 16840 avg length: 280 reward: 132Episode 16860 avg length: 278 reward: 148Episode 16880 avg length: 280 reward: 113Episode 16900 avg length: 268 reward: 133Episode 16920 avg length: 291 reward: 147Episode 16940 avg length: 274 reward: 150Episode 16960 avg length: 281 reward: 137Episode 16980 avg length: 251 reward: 126Episode 17000 avg length: 261 reward: 135Episode 17020 avg length: 267 reward: 105Episode 17040 avg length: 274 reward: 176Episode 17060 avg length: 262 reward: 131Episode 17080 avg length: 186 reward: 184Episode 17100 avg length: 225 reward: 150Episode 17120 avg length: 201 reward: 218Episode 17140 avg length: 211 reward: 220Episode 17160 avg length: 221 reward: 218Episode 17180 avg length: 232 reward: 210Episode 17200 avg length: 216 reward: 220Episode 17220 avg length: 226 reward: 203Episode 17240 avg length: 198 reward: 170Episode 17260 avg length: 196 reward: 222Episode 17280 avg length: 214 reward: 196Episode 17300 avg length: 229 reward: 205Episode 17320 avg length: 183 reward: 192Episode 17340 avg length: 212 reward: 186Episode 17360 avg length: 192 reward: 164########## Solved! ##########到此这篇关于Python强化练习之Tensorflow2 opp算法实现月球登陆器的文章就介绍到这了,更多相关Python Tensorflow2 OPP内容请搜索脚本之家以前的文章或继续浏览下面的相关文章希望大家以后多多支持脚本之家！