fix: try to fix the code to stop the robot the run in the wall

ex2.py

@@ -5,6 +5,7 @@ import gymnasium as gym
 import torch
 import torch.nn as nn
 import torch.optim as optim
+import matplotlib.pyplot as plt
 
 
 class DQN(nn.Module):
@@ -21,7 +22,6 @@ class DQN(nn.Module):
             nn.Linear(64, n_actions)
         )
 
-
     def forward(self, x):
         """
 
@@ -38,7 +38,7 @@ def epsilon_greedy(epsilon: float, s, policy_net: DQN, n_actions: int) -> int:
         return torch.argmax(policy_net(s)).item()
 
 
-def train_and_save(weights_path="cartpole_dqn.pth", episodes=2_000, update_target_every=20):
+def train_and_save(weights_path="cartpole_dqn.pth", episodes=2_000, update_target_every=20) -> DQN:
     env = gym.make('CartPole-v1')
     n_states, n_actions = env.observation_space.shape[0], env.action_space.n
 
@@ -47,15 +47,16 @@ def train_and_save(weights_path="cartpole_dqn.pth", episodes=2_000, update_targe
     target_net.load_state_dict(policy_net.state_dict())  # same weights at start
     target_net.eval()
 
-    optimizer = optim.Adam(policy_net.parameters(), lr=1e-3) # <- erreur ici
+    optimizer = optim.Adam(policy_net.parameters(), lr=1e-2) #1e-3
     gamma = 0.99  # discount factor
     epsilon = 1.0  # Fréquence d'exploration initiale
     eps_min = 0.05  # Fréquence d'exploration minimale
     eps_decay = 0.995  # Facteur de réduction d'epsilon
-    memory = deque(maxlen=5000)
+    memory = deque(maxlen=5_000)
     batch_size = 64
 
     for ep in range(episodes):
+        print(f'Episode: {ep}/{episodes}')
         s, _ = env.reset()
         s = torch.tensor(s, dtype=torch.float32)
         done, total_r = False, 0
@@ -117,5 +118,5 @@ def show(weights_path='cartpole_dqn.pth') -> None:
 
 
 if __name__ == '__main__':
-    #trained_model = train_and_save()
+    trained_model = train_and_save()
     show()