kirubel1738/cartpole-dqn

Deep Q-Network (DQN) — CartPole-v1

This repository contains a trained Deep Q-Network (DQN) agent for the Gymnasium environment CartPole-v1.

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Environment

• Environment: CartPole-v1
• State Space: 4-dimensional continuous vector
• Action Space: 2 discrete actions
• Goal: Balance the pole for as long as possible

CartPole has a continuous state space, making tabular Q-learning infeasible.

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Algorithm — Deep Q-Network (DQN)

DQN approximates Q-values using a neural network:

Q(s,a; θ)

Training target:

y = r + γ max_a' Q(s',a'; θ⁻)

Key components:

• Policy Network
• Target Network
• Experience Replay Buffer
• MSE loss optimization

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Why DQN?

Because CartPole has continuous states:

s ∈ ℝ⁴

A Q-table cannot represent infinite possible states.
A neural network is used for function approximation.

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Training Details

• Learning rate: 1e-3
• Discount factor: 0.99
• Batch size: 64
• Target update frequency: 100 steps
• Episodes: 500

Replay buffer improves stability and data efficiency.

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Performance

The agent learns to consistently balance the pole for long durations.

Training reward improves steadily over episodes.

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Visualization

Below is the trained DQN agent:

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Files

• cartpole_dqn.pt → Trained PyTorch model
• cartpole_dqn.gif → Agent demonstration

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Summary

This project demonstrates:

• Function approximation in reinforcement learning
• Experience replay
• Target networks for stability
• Deep reinforcement learning fundamentals

It represents a transition from tabular RL to deep RL.