Sure! Here's an example of a Python script that demonstrates the concept of Policy Gradients using the OpenAI Gym environment and a simple neural network: ```python import gym import numpy as np from keras.models import Sequential from keras.layers import Dense # Create the policy network def build_policy_network(input_shape, output_units): model = Sequential() model.add(Dense(24, activation='relu', input_shape=input_shape)) model.add(Dense(24, activation='relu')) model.add(Dense(output_units, activation='softmax')) model.compile(optimizer='adam', loss='categorical_crossentropy') return model def choose_action(state, model): state = np.reshape(state, [1, input_shape[0]]) prob_dist = model.predict(state).flatten() action = np.random.choice(num_actions, 1, p=prob_dist)[0] return action def discount_rewards(rewards, gamma): discounted_rewards = np.zeros_like(rewards) running_sum = 0 for t in reversed(range(len(rewards))): running_sum = running_sum * gamma + rewards[t] discounted_rewards[t] = running_sum return discounted_rewards # Set hyperparameters learning_rate = 0.01 num_episodes = 1000 gamma = 0.99 # Create the environment env = gym.make('CartPole-v0') input_shape = env.observation_space.shape num_actions = env.action_space.n # Build the policy network and initialize weights policy_network = build_policy_network(input_shape, num_actions) # Start training for episode in range(num_episodes): state = env.reset() done = False episode_rewards = [] episode_gradients = [] while not done: # Choose action based on the policy network action = choose_action(state, policy_network) # Take the chosen action and observe the next state and reward next_state, reward, done, _ = env.step(action) # Store the reward episode_rewards.append(reward) # Compute the one-hot encoded action action_onehot = np.zeros(num_actions) action_onehot[action] = 1 # Compute the gradient of the policy network's output w.r.t. the action taken with tf.GradientTape() as tape: logits = policy_network.predict(np.expand_dims(state, axis=0)) loss = tf.reduce_sum(tf.multiply(logits, tf.convert_to_tensor(action_onehot, dtype=tf.float32))) # Store the gradients episode_gradients.append(tape.gradient(loss, policy_network.trainable_variables)) state = next_state # Update the policy network rewards = discount_rewards(episode_rewards, gamma) for i in range(len(episode_gradients)): grads = episode_gradients[i] for j in range(len(grads)): policy_network.trainable_variables[j].assign_sub(learning_rate * grads[j] * rewards[i]) if episode % 100 == 0: print("Episode {}: Average reward = {}".format(episode, np.mean(episode_rewards))) ``` This script uses the `gym` package to create the CartPole-v0 environment, which is a classic reinforcement learning problem. It then builds a simple neural network as the policy network, with two hidden layers and a softmax output layer for the action probabilities. It implements the `choose_action` function to sample actions based on the probabilities predicted by the policy network. During training, the script collects rewards and gradients for each episode. It then applies the policy gradient update rule, computing the discounted rewards and updating the policy network weights accordingly. Finally, it prints the average reward for every 100 episodes. Note that this script is a simplified example and may not converge to the optimal policy. Policy Gradients typically require careful tuning of hyperparameters, selecting suitable network architectures, and using more advanced techniques like baseline estimation and advantage normalization to improve the training stability and performance.