def __init__(self, env, size=None, update_delay=1.0, display=True, live_plot=True):
self.env = env
self.size = size if size is not None else ((self.env.grid_size[0] + 1) * self.env.block_size, (self.env.grid_size[1] + 1) * self.env.block_size)
self.width, self.height = self.size
self.bg_color = self.colors['white']
self.road_width = 5
self.road_color = self.colors['black']
self.quit = False
self.start_time = None
self.current_time = 0.0
self.last_updated = 0.0
self.update_delay = update_delay # duration between each step (in secs)
self.display = display
if self.display:
try:
self.pygame = importlib.import_module('pygame')
self.pygame.init()
self.screen = self.pygame.display.set_mode(self.size)
self.frame_delay = max(1, int(self.update_delay * 1000)) # delay between GUI frames in ms (min: 1)
self.agent_sprite_size = (32, 32)
self.agent_circle_radius = 10 # radius of circle, when using simple representation
for agent in self.env.agent_states:
agent._sprite = self.pygame.transform.smoothscale(self.pygame.image.load(os.path.join("images", "car-{}.png".format(agent.color))), self.agent_sprite_size)
agent._sprite_size = (agent._sprite.get_width(), agent._sprite.get_height())
self.font = self.pygame.font.Font(None, 28)
self.paused = False
except ImportError as e:
self.display = False
print "Simulator.__init__(): Unable to import pygame; display disabled.\n{}: {}".format(e.__class__.__name__, e)
except Exception as e:
self.display = False
print "Simulator.__init__(): Error initializing GUI objects; display disabled.\n{}: {}".format(e.__class__.__name__, e)
# Setup metrics to report
self.live_plot = live_plot
self.rep = Reporter(metrics=['net_reward', 'avg_net_reward', 'final_deadline', 'success'], live_plot=self.live_plot)
self.avg_net_reward_window = 30
def __init__(self, env, size=None, update_delay=1.0, display=True, live_plot=False):
self.env = env
self.size = size if size is not None else ((self.env.grid_size[0] + 1) * self.env.block_size, (self.env.grid_size[1] + 1) * self.env.block_size)
self.width, self.height = self.size
self.bg_color = self.colors['white']
self.road_width = 5
self.road_color = self.colors['black']
self.quit = False
self.start_time = None
self.current_time = 0.0
self.last_updated = 0.0
self.update_delay = update_delay # duration between each step (in secs)
self.display = display
if self.display:
try:
self.pygame = importlib.import_module('pygame')
self.pygame.init()
self.screen = self.pygame.display.set_mode(self.size)
self.frame_delay = max(1, int(self.update_delay * 1000)) # delay between GUI frames in ms (min: 1)
self.agent_sprite_size = (32, 32)
self.agent_circle_radius = 10 # radius of circle, when using simple representation
for agent in self.env.agent_states:
agent._sprite = self.pygame.transform.smoothscale(self.pygame.image.load(os.path.join("images", "car-{}.png".format(agent.color))), self.agent_sprite_size)
agent._sprite_size = (agent._sprite.get_width(), agent._sprite.get_height())
self.font = self.pygame.font.Font(None, 28)
self.paused = False
except ImportError as e:
self.display = False
#print "Simulator.__init__(): Unable to import pygame; display disabled.\n{}: {}".format(e.__class__.__name__, e)
except Exception as e:
self.display = False
# print "Simulator.__init__(): Error initializing GUI objects; display disabled.\n{}: {}".format(e.__class__.__name__, e)
# Setup metrics to report
self.live_plot = live_plot
self.rep = Reporter(metrics=['net_reward', 'avg_net_reward', 'final_deadline', 'success'], live_plot=self.live_plot)
self.avg_net_reward_window = 10
def __init__(self, env):
super(LearningAgent, self).__init__(
env) # sets self.env = env, state = None, next_waypoint = None, and a default color
self.color = 'red' # override color
self.planner = RoutePlanner(self.env, self) # simple route planner to get next_waypoint
# TODO: Initialize any additional variables here
self.actions = [None, 'forward', 'left', 'right']
# Parameters in the Q - Learning algorithm
self.alpha = 0.5 # learning rate (alpha) 0 < alpha < 1
self.gamma = 0.8 # discount factor(gamma) 0 < gamma < 1
self.eps = 1 # exploration rate(epsilon) 0 < eps < 1
self.action_0 = None # Action in t-1
self.reward_0 = None # Reward in t-1
self.state_0 = None # State in t-1
self.Q = {} # Empty Q table
self.experience = 1 # smartcab "experience", increases with time
# Setup infraction metrics to report
self.live_plot = False
self.infractions_rep = Reporter(metrics=['invalid_moves'], live_plot=self.live_plot)
class Simulator(object):
"""Simulates agents in a dynamic smartcab environment.
Uses PyGame to display GUI, if available.
"""
colors = {
'black' : ( 0, 0, 0),
'white' : (255, 255, 255),
'red' : (255, 0, 0),
'green' : ( 0, 255, 0),
'blue' : ( 0, 0, 255),
'cyan' : ( 0, 200, 200),
'magenta' : (200, 0, 200),
'yellow' : (255, 255, 0),
'orange' : (255, 128, 0)
}
def __init__(self, env, size=None, update_delay=1.0, display=True, live_plot=False):
self.env = env
self.size = size if size is not None else ((self.env.grid_size[0] + 1) * self.env.block_size, (self.env.grid_size[1] + 1) * self.env.block_size)
self.width, self.height = self.size
self.bg_color = self.colors['white']
self.road_width = 5
self.road_color = self.colors['black']
self.quit = False
self.start_time = None
self.current_time = 0.0
self.last_updated = 0.0
self.update_delay = update_delay # duration between each step (in secs)
self.display = display
if self.display:
try:
self.pygame = importlib.import_module('pygame')
self.pygame.init()
self.screen = self.pygame.display.set_mode(self.size)
self.frame_delay = max(1, int(self.update_delay * 1000)) # delay between GUI frames in ms (min: 1)
self.agent_sprite_size = (32, 32)
self.agent_circle_radius = 10 # radius of circle, when using simple representation
for agent in self.env.agent_states:
agent._sprite = self.pygame.transform.smoothscale(self.pygame.image.load(os.path.join("images", "car-{}.png".format(agent.color))), self.agent_sprite_size)
agent._sprite_size = (agent._sprite.get_width(), agent._sprite.get_height())
self.font = self.pygame.font.Font(None, 28)
self.paused = False
except ImportError as e:
self.display = False
#print "Simulator.__init__(): Unable to import pygame; display disabled.\n{}: {}".format(e.__class__.__name__, e)
except Exception as e:
self.display = False
# print "Simulator.__init__(): Error initializing GUI objects; display disabled.\n{}: {}".format(e.__class__.__name__, e)
# Setup metrics to report
self.live_plot = live_plot
self.rep = Reporter(metrics=['net_reward', 'avg_net_reward', 'final_deadline', 'success'], live_plot=self.live_plot)
self.avg_net_reward_window = 10
def run(self, n_trials=1):
self.quit = False
self.rep.reset()
for trial in xrange(n_trials):
print "Simulator.run(): Trial {}".format(trial) # [debug]
self.env.reset()
self.current_time = 0.0
self.last_updated = 0.0
self.start_time = time.time()
prev_penalty = self.env.primary_agent.n_penalties
while True:
try:
# Update current time
self.current_time = time.time() - self.start_time
#print "Simulator.run(): current_time = {:.3f}".format(self.current_time)
# Handle GUI events
if self.display:
for event in self.pygame.event.get():
if event.type == self.pygame.QUIT:
self.quit = True
elif event.type == self.pygame.KEYDOWN:
if event.key == 27: # Esc
self.quit = True
elif event.unicode == u' ':
self.paused = True
if self.paused:
self.pause()
# Update environment
if self.current_time - self.last_updated >= self.update_delay:
self.env.step()
# TODO: Log step data
self.last_updated = self.current_time
# Render GUI and sleep
if self.display:
self.render()
self.pygame.time.wait(self.frame_delay)
except KeyboardInterrupt:
self.quit = True
finally:
if self.quit or self.env.done:
state = self.env.agent_states[self.env.primary_agent]
if state['location'] != state['destination']:
self.env.primary_agent.last_dest_fail = trial + 1
if self.env.primary_agent.n_penalties > prev_penalty:
self.env.primary_agent.last_penalty = trial + 1
break
p_agent = self.env.primary_agent
if self.quit:
break
# Collect/update metrics
self.rep.collect('net_reward', trial, self.env.trial_data['net_reward']) # total reward obtained in this trial
self.rep.collect('avg_net_reward', trial, np.mean(self.rep.metrics['net_reward'].ydata[-self.avg_net_reward_window:])) # rolling mean of reward
self.rep.collect('final_deadline', trial, self.env.trial_data['final_deadline']) # final deadline value (time remaining)
self.rep.collect('success', trial, self.env.trial_data['success'])
if self.live_plot:
self.rep.refresh_plot() # autoscales axes, draws stuff and flushes events
# Report final metrics
if self.display:
self.pygame.display.quit() # need to shutdown pygame before showing metrics plot
# TODO: Figure out why having both game and plot displays makes things crash!
if self.live_plot:
self.rep.show_plot() # holds till user closes plot window
return (p_agent.n_dest_reached, p_agent.last_dest_fail,
p_agent.sum_time_left, p_agent.n_penalties,
p_agent.last_penalty, len(p_agent.qvals))
def render(self):
# Clear screen
self.screen.fill(self.bg_color)
# Draw elements
# * Static elements
for road in self.env.roads:
self.pygame.draw.line(self.screen, self.road_color, (road[0][0] * self.env.block_size, road[0][1] * self.env.block_size), (road[1][0] * self.env.block_size, road[1][1] * self.env.block_size), self.road_width)
for intersection, traffic_light in self.env.intersections.iteritems():
self.pygame.draw.circle(self.screen, self.road_color, (intersection[0] * self.env.block_size, intersection[1] * self.env.block_size), 10)
if traffic_light.state: # North-South is open
self.pygame.draw.line(self.screen, self.colors['green'],
(intersection[0] * self.env.block_size, intersection[1] * self.env.block_size - 15),
(intersection[0] * self.env.block_size, intersection[1] * self.env.block_size + 15), self.road_width)
else: # East-West is open
self.pygame.draw.line(self.screen, self.colors['green'],
(intersection[0] * self.env.block_size - 15, intersection[1] * self.env.block_size),
(intersection[0] * self.env.block_size + 15, intersection[1] * self.env.block_size), self.road_width)
# * Dynamic elements
for agent, state in self.env.agent_states.iteritems():
# Compute precise agent location here (back from the intersection some)
agent_offset = (2 * state['heading'][0] * self.agent_circle_radius, 2 * state['heading'][1] * self.agent_circle_radius)
agent_pos = (state['location'][0] * self.env.block_size - agent_offset[0], state['location'][1] * self.env.block_size - agent_offset[1])
agent_color = self.colors[agent.color]
if hasattr(agent, '_sprite') and agent._sprite is not None:
# Draw agent sprite (image), properly rotated
rotated_sprite = agent._sprite if state['heading'] == (1, 0) else self.pygame.transform.rotate(agent._sprite, 180 if state['heading'][0] == -1 else state['heading'][1] * -90)
self.screen.blit(rotated_sprite,
self.pygame.rect.Rect(agent_pos[0] - agent._sprite_size[0] / 2, agent_pos[1] - agent._sprite_size[1] / 2,
agent._sprite_size[0], agent._sprite_size[1]))
else:
# Draw simple agent (circle with a short line segment poking out to indicate heading)
self.pygame.draw.circle(self.screen, agent_color, agent_pos, self.agent_circle_radius)
self.pygame.draw.line(self.screen, agent_color, agent_pos, state['location'], self.road_width)
if agent.get_next_waypoint() is not None:
self.screen.blit(self.font.render(agent.get_next_waypoint(), True, agent_color, self.bg_color), (agent_pos[0] + 10, agent_pos[1] + 10))
if state['destination'] is not None:
self.pygame.draw.circle(self.screen, agent_color, (state['destination'][0] * self.env.block_size, state['destination'][1] * self.env.block_size), 6)
self.pygame.draw.circle(self.screen, agent_color, (state['destination'][0] * self.env.block_size, state['destination'][1] * self.env.block_size), 15, 2)
# * Overlays
text_y = 10
for text in self.env.status_text.split('\n'):
self.screen.blit(self.font.render(text, True, self.colors['red'], self.bg_color), (100, text_y))
text_y += 20
# Flip buffers
self.pygame.display.flip()
def pause(self):
abs_pause_time = time.time()
pause_text = "[PAUSED] Press any key to continue..."
self.screen.blit(self.font.render(pause_text, True, self.colors['cyan'], self.bg_color), (100, self.height - 40))
self.pygame.display.flip()
#print pause_text # [debug]
while self.paused:
for event in self.pygame.event.get():
if event.type == self.pygame.KEYDOWN:
self.paused = False
self.pygame.time.wait(self.frame_delay)
self.screen.blit(self.font.render(pause_text, True, self.bg_color, self.bg_color), (100, self.height - 40))
self.start_time += (time.time() - abs_pause_time)
class Simulator(object):
"""Simulates agents in a dynamic smartcab environment.
Uses PyGame to display GUI, if available.
"""
colors = {
'black': (0, 0, 0),
'white': (255, 255, 255),
'red': (255, 0, 0),
'green': (0, 255, 0),
'blue': (0, 0, 255),
'cyan': (0, 200, 200),
'magenta': (200, 0, 200),
'yellow': (255, 255, 0),
'orange': (255, 128, 0)
}
def __init__(self,
env,
size=None,
update_delay=1.0,
display=True,
live_plot=False):
self.env = env
self.size = size if size is not None else (
(self.env.grid_size[0] + 1) * self.env.block_size,
(self.env.grid_size[1] + 1) * self.env.block_size)
self.width, self.height = self.size
self.bg_color = self.colors['white']
self.road_width = 5
self.road_color = self.colors['black']
self.quit = False
self.start_time = None
self.current_time = 0.0
self.last_updated = 0.0
self.update_delay = update_delay # duration between each step (in secs)
self.display = display
if self.display:
try:
self.pygame = importlib.import_module('pygame')
self.pygame.init()
self.screen = self.pygame.display.set_mode(self.size)
self.frame_delay = max(
1, int(self.update_delay *
1000)) # delay between GUI frames in ms (min: 1)
self.agent_sprite_size = (32, 32)
self.agent_circle_radius = 10 # radius of circle, when using simple representation
for agent in self.env.agent_states:
agent._sprite = self.pygame.transform.smoothscale(
self.pygame.image.load(
os.path.join("../images",
"car-{}.png".format(agent.color))),
self.agent_sprite_size)
agent._sprite_size = (agent._sprite.get_width(),
agent._sprite.get_height())
self.font = self.pygame.font.Font(None, 28)
self.paused = False
except ImportError as e:
self.display = False
print "Simulator.__init__(): Unable to import pygame; display disabled.\n{}: {}".format(
e.__class__.__name__, e)
except Exception as e:
self.display = False
print "Simulator.__init__(): Error initializing GUI objects; display disabled.\n{}: {}".format(
e.__class__.__name__, e)
# Setup metrics to report
self.live_plot = live_plot
self.rep = Reporter(metrics=[
'net_reward', 'avg_net_reward', 'final_deadline', 'success'
],
live_plot=self.live_plot)
self.avg_net_reward_window = 10
def run(self, n_trials=1):
self.quit = False
self.rep.reset()
for trial in xrange(n_trials):
print "Simulator.run(): Trial {}".format(trial) # [debug]
self.env.reset()
self.current_time = 0.0
self.last_updated = 0.0
self.start_time = time.time()
while True:
try:
# Update current time
self.current_time = time.time() - self.start_time
#print "Simulator.run(): current_time = {:.3f}".format(self.current_time)
# Handle GUI events
if self.display:
for event in self.pygame.event.get():
if event.type == self.pygame.QUIT:
self.quit = True
elif event.type == self.pygame.KEYDOWN:
if event.key == 27: # Esc
self.quit = True
elif event.unicode == u' ':
self.paused = True
if self.paused:
self.pause()
# Update environment
if self.current_time - self.last_updated >= self.update_delay:
self.env.step()
# TODO: Log step data
self.last_updated = self.current_time
# Render GUI and sleep
if self.display:
self.render()
self.pygame.time.wait(self.frame_delay)
except KeyboardInterrupt:
self.quit = True
finally:
if self.quit or self.env.done:
break
if self.quit:
break
# Collect/update metrics
self.rep.collect('net_reward', trial,
self.env.trial_data['net_reward']
) # total reward obtained in this trial
self.rep.collect(
'avg_net_reward', trial,
np.mean(self.rep.metrics['net_reward'].ydata[
-self.avg_net_reward_window:])) # rolling mean of reward
self.rep.collect('final_deadline', trial,
self.env.trial_data['final_deadline']
) # final deadline value (time remaining)
self.rep.collect('success', trial, self.env.trial_data['success'])
if self.live_plot:
self.rep.refresh_plot(
) # autoscales axes, draws stuff and flushes events
# Report final metrics
if self.display:
self.pygame.display.quit(
) # need to shutdown pygame before showing metrics plot
# TODO: Figure out why having both game and plot displays makes things crash!
if self.live_plot:
self.rep.show_plot() # holds till user closes plot window
def render(self):
# Clear screen
self.screen.fill(self.bg_color)
# Draw elements
# * Static elements
for road in self.env.roads:
self.pygame.draw.line(self.screen, self.road_color,
(road[0][0] * self.env.block_size,
road[0][1] * self.env.block_size),
(road[1][0] * self.env.block_size,
road[1][1] * self.env.block_size),
self.road_width)
for intersection, traffic_light in self.env.intersections.iteritems():
self.pygame.draw.circle(self.screen, self.road_color,
(intersection[0] * self.env.block_size,
intersection[1] * self.env.block_size),
10)
if traffic_light.state: # North-South is open
self.pygame.draw.line(
self.screen, self.colors['green'],
(intersection[0] * self.env.block_size,
intersection[1] * self.env.block_size - 15),
(intersection[0] * self.env.block_size,
intersection[1] * self.env.block_size + 15),
self.road_width)
else: # East-West is open
self.pygame.draw.line(
self.screen, self.colors['green'],
(intersection[0] * self.env.block_size - 15,
intersection[1] * self.env.block_size),
(intersection[0] * self.env.block_size + 15,
intersection[1] * self.env.block_size), self.road_width)
# * Dynamic elements
for agent, state in self.env.agent_states.iteritems():
# Compute precise agent location here (back from the intersection some)
agent_offset = (2 * state['heading'][0] * self.agent_circle_radius,
2 * state['heading'][1] * self.agent_circle_radius)
agent_pos = (state['location'][0] * self.env.block_size -
agent_offset[0],
state['location'][1] * self.env.block_size -
agent_offset[1])
agent_color = self.colors[agent.color]
if hasattr(agent, '_sprite') and agent._sprite is not None:
# Draw agent sprite (image), properly rotated
rotated_sprite = agent._sprite if state['heading'] == (
1, 0) else self.pygame.transform.rotate(
agent._sprite, 180 if state['heading'][0] == -1 else
state['heading'][1] * -90)
self.screen.blit(
rotated_sprite,
self.pygame.rect.Rect(
agent_pos[0] - agent._sprite_size[0] / 2,
agent_pos[1] - agent._sprite_size[1] / 2,
agent._sprite_size[0], agent._sprite_size[1]))
else:
# Draw simple agent (circle with a short line segment poking out to indicate heading)
self.pygame.draw.circle(self.screen, agent_color, agent_pos,
self.agent_circle_radius)
self.pygame.draw.line(self.screen, agent_color, agent_pos,
state['location'], self.road_width)
if agent.get_next_waypoint() is not None:
self.screen.blit(
self.font.render(agent.get_next_waypoint(), True,
agent_color, self.bg_color),
(agent_pos[0] + 10, agent_pos[1] + 10))
if state['destination'] is not None:
self.pygame.draw.circle(
self.screen, agent_color,
(state['destination'][0] * self.env.block_size,
state['destination'][1] * self.env.block_size), 6)
self.pygame.draw.circle(
self.screen, agent_color,
(state['destination'][0] * self.env.block_size,
state['destination'][1] * self.env.block_size), 15, 2)
# * Overlays
text_y = 10
for text in self.env.status_text.split('\n'):
self.screen.blit(
self.font.render(text, True, self.colors['red'],
self.bg_color), (100, text_y))
text_y += 20
# Flip buffers
self.pygame.display.flip()
def pause(self):
abs_pause_time = time.time()
pause_text = "[PAUSED] Press any key to continue..."
self.screen.blit(
self.font.render(pause_text, True, self.colors['cyan'],
self.bg_color), (100, self.height - 40))
self.pygame.display.flip()
print pause_text # [debug]
while self.paused:
for event in self.pygame.event.get():
if event.type == self.pygame.KEYDOWN:
self.paused = False
self.pygame.time.wait(self.frame_delay)
self.screen.blit(
self.font.render(pause_text, True, self.bg_color, self.bg_color),
(100, self.height - 40))
self.start_time += (time.time() - abs_pause_time)
def run():
"""Run the agent for a finite number of trials."""
n_trials = 100
op_alpha = 0.0 # optimal learning rate
op_gamma = 0.0 # optimal discount factor
op_eps = 0.0 # optimal exploration rate
# Setup metrics to report per simulation
param_metrics = Reporter(metrics=['alpha', 'gamma', 'epsilon', 'trips_perf', 'infractions_perf'], live_plot=True)
# Set up environment and agent
e = Environment(num_dummies=3) # create environment (also adds some dummy traffic)
a = e.create_agent(LearningAgent) # create agent
e.set_primary_agent(a, enforce_deadline=True) # specify agent to track
# NOTE: You can set enforce_deadline=False while debugging to allow longer trials
# Now simulate it
sim = Simulator(e, update_delay=0.001, display=False,
live_plot=True) # create simulator (uses pygame when display=True, if available)
# NOTE: To speed up simulation, reduce update_delay and/or set display=False
idx = 0
eps_range = [0] #np.arange(0,0.2,0.05)
gamma_range = [0.1] #np.arange(0,0.6,0.1)
alpha_range = [0.4] #np.arange(0.2,0.6,0.05)
for epsilon in eps_range:
for gamma in gamma_range:
for alpha in alpha_range:
print "Running simulation for: ", epsilon, gamma, alpha
# Run n_sims simulations for given parameters and store results in lists trips_perf and infractions_perf
n_sims = 1
trips_perf = []
infractions_perf = []
for i in range(n_sims):
# Set agent parameters and reset experience
a.alpha = alpha
a.gama = gamma
a.eps = epsilon
a.experience = 1
a.infractions_rep.reset()
sim.run(n_trials=n_trials) # run for a specified number of trials
# NOTE: To quit midway, press Esc or close pygame window, or hit Ctrl+C on the command-line
# print sim.rep.summary()
for metric in sim.rep.summary():
if metric.name == 'success':
t_p = metric.sum() * 100 / n_trials
print "Name: {}, samples: {}, Performance: {}%".format(metric.name, len(metric), t_p)
trips_perf.append(t_p)
for metric in a.infractions_rep.summary():
if metric.name == 'invalid_moves':
i_p = abs(metric[metric == -1.0].sum()) * 100 / metric.size
print "Name: {}, samples: {}, Performance: {}%".format(metric.name, len(metric), i_p)
infractions_perf.append(i_p)
# Collect metrics
param_metrics.collect('alpha', idx, alpha)
param_metrics.collect('gamma', idx, gamma)
param_metrics.collect('epsilon', idx, epsilon)
param_metrics.collect('trips_perf', idx, pd.Series(trips_perf).mean())
param_metrics.collect('infractions_perf', idx, pd.Series(infractions_perf).mean())
idx += 1
# Show results
results = pd.DataFrame(param_metrics.summary()).transpose()
print results
print 'Best configuration for trips performance:'
print results.loc[results['trips_perf'].idxmax()]
print 'Best configuration for traffic rules performance:'
print results.loc[results['infractions_perf'].idxmin()]
param_metrics.refresh_plot()
param_metrics.show_plot()
class LearningAgent(Agent):
"""An agent that learns to drive in the smartcab world."""
def __init__(self, env):
super(LearningAgent, self).__init__(
env) # sets self.env = env, state = None, next_waypoint = None, and a default color
self.color = 'red' # override color
self.planner = RoutePlanner(self.env, self) # simple route planner to get next_waypoint
# TODO: Initialize any additional variables here
self.actions = [None, 'forward', 'left', 'right']
# Parameters in the Q - Learning algorithm
self.alpha = 0.5 # learning rate (alpha) 0 < alpha < 1
self.gamma = 0.8 # discount factor(gamma) 0 < gamma < 1
self.eps = 1 # exploration rate(epsilon) 0 < eps < 1
self.action_0 = None # Action in t-1
self.reward_0 = None # Reward in t-1
self.state_0 = None # State in t-1
self.Q = {} # Empty Q table
self.experience = 1 # smartcab "experience", increases with time
# Setup infraction metrics to report
self.live_plot = False
self.infractions_rep = Reporter(metrics=['invalid_moves'], live_plot=self.live_plot)
def reset(self, destination=None):
self.planner.route_to(destination)
# TODO: Prepare for a new trip; reset any variables here, if required
self.action_0 = None
self.reward_0 = None
self.state_0 = None
def update(self, t):
# Alpha decay rate
alpha_dr = self.experience
# Eps decay rate
eps_dr = math.log(self.experience + 2) # "+2" avoids div. by zero
# Increase experience
self.experience += 1
# Gather inputs
self.next_waypoint = self.planner.next_waypoint() # from route planner, also displayed by simulator
inputs = self.env.sense(self)
deadline = self.env.get_deadline(self)
# TODO: Update state (current state)
self.state = (tuple(inputs.values()), self.next_waypoint)
#print 'Current state:', self.state
# Create zero-initialized state entry if current state doesn't exist in Q table
if not self.Q.has_key(self.state):
self.Q[self.state] = dict([(action, 0.0) for action in self.actions])
#print 'Q table entry for current state:', self.Q[self.state]
# print 'Q table:', self.Q
# TODO: Select action according to your policy
# Find actions with max q-values for current state and randomly pick one of it if more than one.
best_actions = [act for act, q_value in self.Q[self.state].iteritems() if
q_value == max(self.Q[self.state].values())]
if self.eps / eps_dr < random.random():
action = best_actions[random.randint(0, len(best_actions) - 1)] # Select action using Q-table
else:
action = self.actions[random.randint(0, len(self.actions) - 1)] # Select action randomly
#print 'Action to perform:', action, 'from best candidates:', best_actions
# Execute action and get reward
reward = self.env.act(self, action)
self.infractions_rep.collect('invalid_moves', t, reward)
if self.live_plot:
self.infractions_rep.refresh_plot() # autoscales axes, draws stuff and flushes events
# TODO: Learn policy based on state, action, reward
# Perform the calculation delayed by 1 step. Skip for first iteration (t=0).
if not (None in [self.state_0, self.action_0, self.reward_0]):
self.Q[self.state_0][self.action_0] = (1 - self.alpha / alpha_dr) * \
self.Q[self.state_0][self.action_0] + self.alpha / alpha_dr * \
(self.reward_0 + self.gamma * max(self.Q[self.state].iteritems(), key=op.itemgetter(1))[1])
# Save current state, action and reward for next step
self.state_0 = self.state
self.action_0 = action
self.reward_0 = reward
