class ControloAprendRef(Controlo):
def __init__(self, r_max = 100, a = None, s = None):
self._r_max = r_max
self._a = a
self._s = s
self._alpha = 1
self._gama = 0.9
self._epsilon = 0.01
self._accoes = dirmov()
self._mem_aprend = MemoriaEsparsa()
self._mec_sel_accao = SelAccaoEGreedy(self._mem_aprend, self._accoes, self._epsilon)
self._mec_aprend = AprendQ(self._mem_aprend, self._mec_sel_accao, self._alpha, self._gama)
def _processar(self, percepcao):
sn = percepcao.posicao
if self._a is not None:
r = self._reforco(percepcao, self._s, sn)
self._mec_aprend._aprender(self._s,self._a,r,sn)
psa.vismod.accaovalordir(self._mem_aprend._memoria, self._accoes)
an = self._mec_sel_accao._selecionar_accao(sn)
self._s = sn
self._a = an
if an is not None:
return MOVER(an)
def _reforco(self, percepcao, s, sn):
r = -dist(s,sn)
if percepcao.colisao:
r += -self._r_max
elif percepcao.carga:
r += self._r_max
return r
def __init__(self, r_max = 100, a = None, s = None):
self._r_max = r_max
self._a = a
self._s = s
self._alpha = 1
self._gama = 0.9
self._epsilon = 0.01
self._accoes = dirmov()
self._mem_aprend = MemoriaEsparsa()
self._mec_sel_accao = SelAccaoEGreedy(self._mem_aprend, self._accoes, self._epsilon)
self._mec_aprend = AprendQ(self._mem_aprend, self._mec_sel_accao, self._alpha, self._gama)
