I use simulated self-play by ranking episodes by summed reward. Game outcomes are divided in two by cutting at the median, winners are assigned +1 rewards, losers are assigned -1 rewards, like in games like Go and Chess. Unlike naive policy gradient descent used in previous posts, this version solves all OpenAI classic control problems, albeit slowly.

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I try to generalize the policy gradient algorithm as introduced earlier to solve all the OpenAI classic control problems. It works for CartPole and Acrobot, but not for Pendulum and MountainCar environments.

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The CartPole problem is the Hello World of Reinforcement Learning, originally described in 1985 by Sutton et al. The environment is a pole balanced on a cart. CartPole is one of the environments in OpenAI Gym, so we don't have to code up the physics. Here I walk through a simple solution using Pytorch.

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