空中懸停、翻滾轉(zhuǎn)身、成功著陸，我用強(qiáng)化學(xué)習(xí)「回收」了SpaceX的火箭

import torchfrom rocket import Rocketfrom policy import ActorCriticimport osimport glob
# Decide which device we want to run ondevice = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
if __name__ == '__main__':
    task = 'hover'  # 'hover' or 'landing'    max_steps = 800????ckpt_dir?=?glob.glob(os.path.join(task+'_ckpt',?'*.pt'))[-1]??#?last?ckpt    env = Rocket(task=task, max_steps=max_steps)    net = ActorCritic(input_dim=env.state_dims, output_dim=env.action_dims).to(device)    if os.path.exists(ckpt_dir):        checkpoint = torch.load(ckpt_dir)        net.load_state_dict(checkpoint['model_G_state_dict'])
    state = env.reset()    for step_id in range(max_steps):        action, log_prob, value = net.get_action(state)        state, reward, done, _ = env.step(action)        env.render(window_name='test')        if env.already_crash:            break