def __call__(self, condition):
getSavePath = self.getTrajectorySavePathByCondition(condition)
getCSVSavePath = self.getCSVSavePathByCondition(condition)
attentionType = condition['attentionType']
alpha = condition['alphaForStateWidening']
C = condition['CForStateWidening']
minAttentionDistance = condition['minAttentionDistance']
rangeAttention = condition['rangeAttention']
numTree = condition['numTrees']
numSimulations = condition['numSimulationTimes']
actionRatio = condition['actionRatio']
cBase = condition['cBase']
burnTime = condition['burnTime']
numSub = 5
allResultsIdentity = []
allResultsAttention = []
allResultsIdentitySampled = []
possibleTrialSubtleties = [500.0, 11.0, 3.3, 1.83, 0.92, 0.31, 0.001]
for subIndex in range(numSub):
meanIdentityPerceptionOnConditions = {}
meanAttentionPerceptionOnConditions = {}
meanIdentitySampledOnConditions = {}
for chasingSubtlety in possibleTrialSubtleties:
print(numTree, chasingSubtlety, numSimulations, attentionType)
numAgent = 25
sheepId = 0
suspectorIds = list(range(1, numAgent))
resetWolfIdAndSubtlety = ag.ResetWolfIdAndSubtlety(
suspectorIds, [chasingSubtlety])
distanceToVisualDegreeRatio = 20
minInitSheepWolfDistance = 9 * distanceToVisualDegreeRatio
minInitSheepDistractorDistance = 2.5 * distanceToVisualDegreeRatio # no distractor in killzone when init
isLegalInitPositions = ag.IsLegalInitPositions(
sheepId, minInitSheepWolfDistance,
minInitSheepDistractorDistance)
xBoundary = [0, 640]
yBoundary = [0, 480]
resetAgentPositions = ag.ResetAgentPositions(
xBoundary, yBoundary, numAgent, isLegalInitPositions)
resetPhysicalState = ag.ResetPhysicalState(
sheepId, numAgent, resetAgentPositions,
resetWolfIdAndSubtlety)
numFramePerSecond = 20
numMDPTimeStepPerSecond = 5
numFrameWithoutActionChange = int(numFramePerSecond /
numMDPTimeStepPerSecond)
sheepActionUpdateFrequency = 1
minSheepSpeed = int(17.4 * distanceToVisualDegreeRatio /
numFramePerSecond)
maxSheepSpeed = int(23.2 * distanceToVisualDegreeRatio /
numFramePerSecond)
warmUpTimeSteps = int(10 * numMDPTimeStepPerSecond)
sheepPolicy = ag.SheepPolicy(sheepActionUpdateFrequency,
minSheepSpeed, maxSheepSpeed,
warmUpTimeSteps, burnTime)
wolfActionUpdateFrequency = int(0.2 * numMDPTimeStepPerSecond)
minWolfSpeed = int(8.7 * distanceToVisualDegreeRatio /
numFramePerSecond)
maxWolfSpeed = int(14.5 * distanceToVisualDegreeRatio /
numFramePerSecond)
wolfPolicy = ag.WolfPolicy(wolfActionUpdateFrequency,
minWolfSpeed, maxWolfSpeed,
warmUpTimeSteps)
distractorActionUpdateFrequency = int(0.2 *
numMDPTimeStepPerSecond)
minDistractorSpeed = int(8.7 * distanceToVisualDegreeRatio /
numFramePerSecond)
maxDistractorSpeed = int(14.5 * distanceToVisualDegreeRatio /
numFramePerSecond)
distractorPolicy = ag.DistractorPolicy(
distractorActionUpdateFrequency, minDistractorSpeed,
maxDistractorSpeed, warmUpTimeSteps)
preparePolicy = ag.PreparePolicy(sheepId, numAgent,
sheepPolicy, wolfPolicy,
distractorPolicy)
updatePhysicalState = ag.UpdatePhysicalState(
sheepId, numAgent, preparePolicy)
xBoundary = [0, 640]
yBoundary = [0, 480]
checkBoundaryAndAdjust = ag.CheckBoundaryAndAdjust(
xBoundary, yBoundary)
transiteMultiAgentMotion = ag.TransiteMultiAgentMotion(
checkBoundaryAndAdjust)
minDistance = 0.0 * distanceToVisualDegreeRatio
isTerminal = env.IsTerminal(sheepId, minDistance)
# screen = pg.display.set_mode([xBoundary[1], yBoundary[1]])
# screenColor = np.array([0, 0, 0])
# sheepColor = np.array([0, 255, 0])
# wolfColor = np.array([255, 0, 0])
# circleSize = 10
# saveImage = True
# saveImageFile = 'image3'
# render = env.Render(numAgent, screen, xBoundary[1], yBoundary[1], screenColor, sheepColor, wolfColor, circleSize, saveImage, saveImageFile, isTerminal)
render = None
renderOnInSimulation = False
transiteStateWithoutActionChangeInSimulation = env.TransiteStateWithoutActionChange(
numFrameWithoutActionChange, isTerminal,
transiteMultiAgentMotion, render, renderOnInSimulation)
renderOnInPlay = False
transiteStateWithoutActionChangeInPlay = env.TransiteStateWithoutActionChange(
numFrameWithoutActionChange, isTerminal,
transiteMultiAgentMotion, render, renderOnInPlay)
if attentionType == 'idealObserver':
attentionLimitation = 4
precisionPerSlot = 500.0
precisionForUntracked = 500.0
memoryratePerSlot = 1.0
memoryrateForUntracked = 1.0
if attentionType == 'preAttention':
attentionLimitation = 4
precisionPerSlot = 2.5
precisionForUntracked = 2.5
memoryratePerSlot = 0.45
memoryrateForUntracked = 0.45
if attentionType == 'attention3':
attentionLimitation = 3
precisionPerSlot = 16.0
precisionForUntracked = 0.01
memoryratePerSlot = 0.7
memoryrateForUntracked = 0.01
if attentionType == 'hybrid3':
attentionLimitation = 3
precisionPerSlot = 16.0
precisionForUntracked = 2.5
memoryratePerSlot = 0.7
memoryrateForUntracked = 0.45
if attentionType == 'attention4':
attentionLimitation = 4
precisionPerSlot = 16.0
precisionForUntracked = 0.01
memoryratePerSlot = 0.7
memoryrateForUntracked = 0.01
if attentionType == 'hybrid4':
attentionLimitation = 4
precisionPerSlot = 16.0
precisionForUntracked = 2.5
memoryratePerSlot = 0.7
memoryrateForUntracked = 0.45
if attentionType == 'preAttentionMem0.25':
attentionLimitation = 4
precisionPerSlot = 2.5
precisionForUntracked = 2.5
memoryratePerSlot = 0.25
memoryrateForUntracked = 0.25
if attentionType == 'preAttentionMem0.65':
attentionLimitation = 4
precisionPerSlot = 2.5
precisionForUntracked = 2.5
memoryratePerSlot = 0.65
memoryrateForUntracked = 0.65
if attentionType == 'preAttentionPre0.5':
attentionLimitation = 4
precisionPerSlot = 0.5
precisionForUntracked = 0.5
memoryratePerSlot = 0.45
memoryrateForUntracked = 0.45
if attentionType == 'preAttentionPre4.5':
attentionLimitation = 4
precisionPerSlot = 4.5
precisionForUntracked = 4.5
memoryratePerSlot = 0.45
memoryrateForUntracked = 0.45
attention = Attention.AttentionToPrecisionAndDecay(
precisionPerSlot, precisionForUntracked, memoryratePerSlot,
memoryrateForUntracked)
transferMultiAgentStatesToPositionDF = ba.TransferMultiAgentStatesToPositionDF(
numAgent)
possibleSubtleties = [
500.0, 11.0, 3.3, 1.83, 0.92, 0.31, 0.001
]
resetBeliefAndAttention = ba.ResetBeliefAndAttention(
sheepId, suspectorIds, possibleSubtleties,
attentionLimitation, transferMultiAgentStatesToPositionDF,
attention)
maxAttentionDistance = minAttentionDistance + rangeAttention
attentionMinDistance = minAttentionDistance * distanceToVisualDegreeRatio
attentionMaxDistance = maxAttentionDistance * distanceToVisualDegreeRatio
numStandardErrorInDistanceRange = 4
calDistancePriorOnAttentionSlot = Attention.CalDistancePriorOnAttentionSlot(
attentionMinDistance, attentionMaxDistance,
numStandardErrorInDistanceRange)
attentionSwitch = Attention.AttentionSwitch(
attentionLimitation, calDistancePriorOnAttentionSlot)
computePosterior = calPosterior.CalPosteriorLog(minDistance)
print(attentionLimitation,
attentionMinDistance / distanceToVisualDegreeRatio,
attentionMaxDistance / distanceToVisualDegreeRatio)
attentionSwitchFrequencyInSimulation = np.inf
beliefUpdateFrequencyInSimulation = np.inf
updateBeliefAndAttentionInSimulation = ba.UpdateBeliefAndAttentionState(
attention, computePosterior, attentionSwitch,
transferMultiAgentStatesToPositionDF,
attentionSwitchFrequencyInSimulation,
beliefUpdateFrequencyInSimulation, burnTime)
attentionSwitchFrequencyInPlay = int(0.6 *
numMDPTimeStepPerSecond)
beliefUpdateFrequencyInPlay = int(0.2 *
numMDPTimeStepPerSecond)
updateBeliefAndAttentionInPlay = ba.UpdateBeliefAndAttentionState(
attention, computePosterior, attentionSwitch,
transferMultiAgentStatesToPositionDF,
attentionSwitchFrequencyInPlay,
beliefUpdateFrequencyInPlay, burnTime)
updatePhysicalStateByBeliefFrequencyInSimulationRoot = int(
0.2 * numMDPTimeStepPerSecond)
updatePhysicalStateByBeliefInSimulationRoot = ba.UpdatePhysicalStateImagedByBelief(
updatePhysicalStateByBeliefFrequencyInSimulationRoot)
updatePhysicalStateByBeliefFrequencyInSimulation = np.inf
updatePhysicalStateByBeliefInSimulation = ba.UpdatePhysicalStateImagedByBelief(
updatePhysicalStateByBeliefFrequencyInSimulation)
updatePhysicalStateByBeliefFrequencyInPlay = np.inf
updatePhysicalStateByBeliefInPlay = ba.UpdatePhysicalStateImagedByBelief(
updatePhysicalStateByBeliefFrequencyInPlay)
transitionFunctionInSimulation = env.TransitionFunction(
resetPhysicalState, resetBeliefAndAttention,
updatePhysicalState,
transiteStateWithoutActionChangeInSimulation,
updateBeliefAndAttentionInSimulation,
updatePhysicalStateByBeliefInSimulation)
transitionFunctionInPlay = env.TransitionFunction(
resetPhysicalState, resetBeliefAndAttention,
updatePhysicalState,
transiteStateWithoutActionChangeInPlay,
updateBeliefAndAttentionInPlay,
updatePhysicalStateByBeliefInPlay)
maxRollOutSteps = 5
aliveBouns = 1 / maxRollOutSteps
deathPenalty = -1
rewardFunction = reward.RewardFunctionTerminalPenalty(
sheepId, aliveBouns, deathPenalty, isTerminal)
rewardRollout = lambda state, action, nextState: rewardFunction(
state, action)
numActionSpace = 8
actionInterval = int(360 / (numActionSpace))
actionMagnitude = actionRatio * minSheepSpeed
actionSpace = [
(np.cos(degreeInPolar) * actionMagnitude,
np.sin(degreeInPolar) * actionMagnitude)
for degreeInPolar in np.arange(0, 360, actionInterval) /
180 * math.pi
]
getActionPrior = lambda state: {
action: 1 / len(actionSpace)
for action in actionSpace
}
cInit = 1
#cBase = 50
scoreChild = ScoreChild(cInit, cBase)
selectAction = SelectAction(scoreChild)
selectNextState = SelectNextState(selectAction)
initializeChildren = InitializeChildren(
actionSpace, transitionFunctionInSimulation,
getActionPrior)
expand = Expand(isTerminal, initializeChildren)
pWidening = PWidening(alpha, C)
expandNewState = ExpandNextState(
transitionFunctionInSimulation, pWidening)
rolloutPolicy = lambda state: actionSpace[np.random.choice(
range(numActionSpace))]
rolloutHeuristic = lambda state: 0
estimateValue = RollOut(rolloutPolicy, maxRollOutSteps,
transitionFunctionInSimulation,
rewardRollout, isTerminal,
rolloutHeuristic)
numActionPlaned = 1
outputAction = OutputAction(numActionPlaned, actionSpace)
#numSimulations = int(numTotalSimulationTimes/numTree)
#sheepColorInMcts = np.array([0, 255, 0])
#wolfColorInMcts = np.array([255, 0, 0])
#distractorColorInMcts = np.array([255, 255, 255])
#saveImageMCTS = True
#mctsRender = env.MctsRender(numAgent, screen, xBoundary[1], yBoundary[1], screenColor, sheepColorInMcts, wolfColorInMcts, distractorColorInMcts, circleSize, saveImageMCTS, saveImageFile)
#mctsRenderOn = False
#mctsRender = None
#pg.init()
#mcts = MCTS(numSimulations, selectChild, expand, rollout, backup, selectAction, mctsRender, mctsRenderOn)
pwMultipleTrees = PWMultipleTrees(numSimulations, selectAction,
selectNextState, expand,
expandNewState,
estimateValue, backup,
outputAction)
maxRunningSteps = int(50 * numMDPTimeStepPerSecond)
makeDiffSimulationRoot = MakeDiffSimulationRoot(
isTerminal, updatePhysicalStateByBeliefInSimulationRoot)
runMCTSTrjactory = RunMCTSTrjactory(
maxRunningSteps, numTree, numActionPlaned,
sheepActionUpdateFrequency, transitionFunctionInPlay,
isTerminal, makeDiffSimulationRoot, render)
rootAction = actionSpace[np.random.choice(
range(numActionSpace))]
numTrial = 10
trajectories = [
runMCTSTrjactory(pwMultipleTrees)
for trial in range(numTrial)
]
savePath = getSavePath({
'chasingSubtlety': chasingSubtlety,
'subIndex': subIndex
})
#tsl.saveToPickle(trajectories, savePath)
#def getTrueWolfIndentityAcc(trajectory):
# AccTrial = []
# for timeStepIndex in range(len(trajectory)):
# timeStep = trajectory[timeStepIndex]
# wolfId = trajectory[0][0][0][3][0]
# wolfIdInEach = timeStep[0][0][3][0]
# #print(wolfId, '**', wolfIdInEach)
# if (timeStepIndex % 3 == 0) and timeStepIndex >= 11:
# AccTrial.append(timeStep[0][1][int(wolfIdInEach) - 1])
# meanIdentityAcc = np.mean(AccTrial)
# #meanIdentityAcc = np.mean(np.array([timeStep[0][1][int(timeStep[0][0][3][0] - 1)] for timeStep in trajectory])[11:])
# return meanIdentityAcc
getTrueWolfIndentityAcc = lambda trajectory: np.array([
timeStep[0][1][int(timeStep[0][0][3][0] - 1)]
for timeStep in trajectory
])[:]
identityPerceptionTimeSeries = np.mean([
getTrueWolfIndentityAcc(trajectory)
for trajectory in trajectories
],
axis=0)
resultsTimeSeries = pd.DataFrame(
[identityPerceptionTimeSeries],
columns=list(range(len(identityPerceptionTimeSeries))))
savePathIdentitySeries = getCSVSavePath({
'chasingSubtlety': chasingSubtlety,
'measure': 'identity'
})
if subIndex == 0:
resultsTimeSeries.to_csv(savePathIdentitySeries, mode='a')
else:
resultsTimeSeries.to_csv(savePathIdentitySeries,
mode='a',
header=False)
meanIdentityPerception = np.mean([
getTrueWolfIndentityAcc(trajectory)
for trajectory in trajectories
])
meanIdentityPerceptionOnConditions.update(
{chasingSubtlety: meanIdentityPerception})
print(meanIdentityPerceptionOnConditions)
getTrueWolfAttentionNumber = lambda trajectory: np.array([
timeStep[0][2][int(timeStep[0][0][3][0] - 1)]
for timeStep in trajectory
])[:]
attentionNumberTimeSeries = np.mean([
getTrueWolfAttentionNumber(trajectory)
for trajectory in trajectories
],
axis=0)
resultsAttentionTimeSeries = pd.DataFrame(
[attentionNumberTimeSeries],
columns=list(range(len(attentionNumberTimeSeries))))
savePathAttentionSeries = getCSVSavePath({
'chasingSubtlety':
chasingSubtlety,
'measure':
'attentionNumber'
})
if subIndex == 0:
resultsAttentionTimeSeries.to_csv(savePathAttentionSeries,
mode='a')
else:
resultsAttentionTimeSeries.to_csv(savePathAttentionSeries,
mode='a',
header=False)
meanAttentionPerception = np.mean([
getTrueWolfAttentionNumber(trajectory)
for trajectory in trajectories
])
meanAttentionPerceptionOnConditions.update(
{chasingSubtlety: meanAttentionPerception})
getSampledWolfIndentityAcc = lambda trajectory: np.array([
int(
int(timeStep[0][3][0][0]) == int(timeStep[0][0][3][0]))
for timeStep in trajectory
])[:]
identitySampledTimeSeries = np.mean([
getSampledWolfIndentityAcc(trajectory)
for trajectory in trajectories
],
axis=0)
resultsSampledTimeSeries = pd.DataFrame(
[identitySampledTimeSeries],
columns=list(range(len(identitySampledTimeSeries))))
savePathIdentitySampledSeries = getCSVSavePath({
'chasingSubtlety':
chasingSubtlety,
'measure':
'identitySampled'
})
if subIndex == 0:
resultsSampledTimeSeries.to_csv(
savePathIdentitySampledSeries, mode='a')
else:
resultsSampledTimeSeries.to_csv(
savePathIdentitySampledSeries, mode='a', header=False)
meanIdentitySampled = np.mean([
getSampledWolfIndentityAcc(trajectory)
for trajectory in trajectories
])
meanIdentitySampledOnConditions.update(
{chasingSubtlety: meanIdentitySampled})
allResultsIdentity.append(meanIdentityPerceptionOnConditions)
resultsIdentity = pd.DataFrame(allResultsIdentity)
csvSavePathIdentity = getCSVSavePath({'measure': 'identity'})
resultsIdentity.to_csv(csvSavePathIdentity)
allResultsAttention.append(meanAttentionPerceptionOnConditions)
resultsAttention = pd.DataFrame(allResultsAttention)
csvSavePathAttention = getCSVSavePath(
{'measure': 'attentionNumber'})
resultsAttention.to_csv(csvSavePathAttention)
allResultsIdentitySampled.append(meanIdentitySampledOnConditions)
resultsIdentitySampled = pd.DataFrame(allResultsIdentitySampled)
csvSavePathIdentitySampled = getCSVSavePath(
{'measure': 'identitySampled'})
resultsIdentitySampled.to_csv(csvSavePathIdentitySampled)
def __call__(self, condition):
getSavePath = self.getTrajectorySavePathByCondition(condition)
attentionType = condition['attentionType']
alpha = condition['alphaForStateWidening']
C = condition['CForStateWidening']
minAttentionDistance = condition['minAttentionDistance']
rangeAttention = condition['rangeAttention']
numTree = condition['numTrees']
numSimulations = condition['numSimulationTimes']
actionRatio = condition['actionRatio']
cBase = condition['cBase']
burnTime = condition['burnTime']
softParaForIdentity = condition['softId']
softParaForSubtlety = condition['softSubtlety']
numSub = 5
allIdentityResults = []
allPerceptionResults = []
allActionResults = []
allVelDiffResults = []
allResults = []
possibleTrialSubtleties = [0.92, 0.01]
for subIndex in range(numSub):
meanIdentiyOnConditions = {}
meanPerceptionOnConditions = {}
meanActionOnConditions = {}
meanVelDiffOnConditions = {}
meanEscapeOnConditions = {}
for chasingSubtlety in possibleTrialSubtleties:
print(numTree, chasingSubtlety, numSimulations, attentionType)
numAgent = 25
sheepId = 0
suspectorIds = list(range(1, numAgent))
resetWolfIdAndSubtlety = ag.ResetWolfIdAndSubtlety(
suspectorIds, [chasingSubtlety])
distanceToVisualDegreeRatio = 20
minInitSheepWolfDistance = 9 * distanceToVisualDegreeRatio
minInitSheepDistractorDistance = 2.5 * distanceToVisualDegreeRatio # no distractor in killzone when init
isLegalInitPositions = ag.IsLegalInitPositions(
sheepId, minInitSheepWolfDistance,
minInitSheepDistractorDistance)
xBoundary = [0, 640]
yBoundary = [0, 480]
resetAgentPositions = ag.ResetAgentPositions(
xBoundary, yBoundary, numAgent, isLegalInitPositions)
resetPhysicalState = ag.ResetPhysicalState(
sheepId, numAgent, resetAgentPositions,
resetWolfIdAndSubtlety)
numFramePerSecond = 20
numMDPTimeStepPerSecond = 5
numFrameWithoutActionChange = int(numFramePerSecond /
numMDPTimeStepPerSecond)
sheepActionUpdateFrequency = 1
minSheepSpeed = int(17.4 * distanceToVisualDegreeRatio /
numFramePerSecond)
maxSheepSpeed = int(23.2 * distanceToVisualDegreeRatio /
numFramePerSecond)
warmUpTimeSteps = int(10 * numMDPTimeStepPerSecond)
sheepPolicy = ag.SheepPolicy(sheepActionUpdateFrequency,
minSheepSpeed, maxSheepSpeed,
warmUpTimeSteps, burnTime)
wolfActionUpdateFrequency = int(0.2 * numMDPTimeStepPerSecond)
minWolfSpeed = int(8.7 * distanceToVisualDegreeRatio /
numFramePerSecond)
maxWolfSpeed = int(14.5 * distanceToVisualDegreeRatio /
numFramePerSecond)
wolfPolicy = ag.WolfPolicy(wolfActionUpdateFrequency,
minWolfSpeed, maxWolfSpeed,
warmUpTimeSteps)
distractorActionUpdateFrequency = int(0.2 *
numMDPTimeStepPerSecond)
minDistractorSpeed = int(8.7 * distanceToVisualDegreeRatio /
numFramePerSecond)
maxDistractorSpeed = int(14.5 * distanceToVisualDegreeRatio /
numFramePerSecond)
distractorPolicy = ag.DistractorPolicy(
distractorActionUpdateFrequency, minDistractorSpeed,
maxDistractorSpeed, warmUpTimeSteps)
preparePolicy = ag.PreparePolicy(sheepId, numAgent,
sheepPolicy, wolfPolicy,
distractorPolicy)
updatePhysicalState = ag.UpdatePhysicalState(
sheepId, numAgent, preparePolicy)
xBoundary = [0, 640]
yBoundary = [0, 480]
checkBoundaryAndAdjust = ag.CheckBoundaryAndAdjust(
xBoundary, yBoundary)
transiteMultiAgentMotion = ag.TransiteMultiAgentMotion(
checkBoundaryAndAdjust)
minDistance = 2.5 * distanceToVisualDegreeRatio
isTerminal = env.IsTerminal(sheepId, minDistance)
# screen = pg.display.set_mode([xBoundary[1], yBoundary[1]])
# screenColor = np.array([0, 0, 0])
# sheepColor = np.array([0, 255, 0])
# wolfColor = np.array([255, 0, 0])
# circleSize = 10
# saveImage = True
# saveImageFile = 'image3'
# render = env.Render(numAgent, screen, xBoundary[1], yBoundary[1], screenColor, sheepColor, wolfColor, circleSize, saveImage, saveImageFile, isTerminal)
render = None
renderOnInSimulation = False
transiteStateWithoutActionChangeInSimulation = env.TransiteStateWithoutActionChange(
numFrameWithoutActionChange, isTerminal,
transiteMultiAgentMotion, render, renderOnInSimulation)
renderOnInPlay = False
transiteStateWithoutActionChangeInPlay = env.TransiteStateWithoutActionChange(
numFrameWithoutActionChange, isTerminal,
transiteMultiAgentMotion, render, renderOnInPlay)
if attentionType == 'idealObserver':
attentionLimitation = 1
precisionPerSlot = 500.0
precisionForUntracked = 500.0
memoryratePerSlot = 1.0
memoryrateForUntracked = 1.0
if attentionType == 'preAttention':
attentionLimitation = 1
precisionPerSlot = 2.5
precisionForUntracked = 2.5
memoryratePerSlot = 0.45
memoryrateForUntracked = 0.45
if attentionType == 'attention3':
attentionLimitation = 3
precisionPerSlot = 8.0
precisionForUntracked = 0.01
memoryratePerSlot = 0.7
memoryrateForUntracked = 0.01
if attentionType == 'hybrid3':
attentionLimitation = 3
precisionPerSlot = 8.0
precisionForUntracked = 2.5
memoryratePerSlot = 0.7
memoryrateForUntracked = 0.45
if attentionType == 'attention4':
attentionLimitation = 4
precisionPerSlot = 8.0
precisionForUntracked = 0.01
memoryratePerSlot = 0.7
memoryrateForUntracked = 0.01
if attentionType == 'hybrid4':
attentionLimitation = 4
precisionPerSlot = 8.0
precisionForUntracked = 2.5
memoryratePerSlot = 0.7
memoryrateForUntracked = 0.45
if attentionType == 'preAttentionMem0.25':
attentionLimitation = 1
precisionPerSlot = 2.5
precisionForUntracked = 2.5
memoryratePerSlot = 0.25
memoryrateForUntracked = 0.25
if attentionType == 'preAttentionMem0.65':
attentionLimitation = 1
precisionPerSlot = 2.5
precisionForUntracked = 2.5
memoryratePerSlot = 0.65
memoryrateForUntracked = 0.65
if attentionType == 'preAttentionPre0.5':
attentionLimitation = 1
precisionPerSlot = 0.5
precisionForUntracked = 0.5
memoryratePerSlot = 0.45
memoryrateForUntracked = 0.45
if attentionType == 'preAttentionPre4.5':
attentionLimitation = 1
precisionPerSlot = 4.5
precisionForUntracked = 4.5
memoryratePerSlot = 0.45
memoryrateForUntracked = 0.45
attention = Attention.AttentionToPrecisionAndDecay(
precisionPerSlot, precisionForUntracked, memoryratePerSlot,
memoryrateForUntracked)
transferMultiAgentStatesToPositionDF = ba.TransferMultiAgentStatesToPositionDF(
numAgent)
possibleSubtleties = [500.0, 11.0, 3.3, 1.83, 0.92, 0.31, 0.01]
resetBeliefAndAttention = ba.ResetBeliefAndAttention(
sheepId, suspectorIds, possibleSubtleties,
attentionLimitation, transferMultiAgentStatesToPositionDF,
attention)
maxAttentionDistance = minAttentionDistance + rangeAttention
attentionMinDistance = minAttentionDistance * distanceToVisualDegreeRatio
attentionMaxDistance = maxAttentionDistance * distanceToVisualDegreeRatio
numStandardErrorInDistanceRange = 4
calDistancePriorOnAttentionSlot = Attention.CalDistancePriorOnAttentionSlot(
attentionMinDistance, attentionMaxDistance,
numStandardErrorInDistanceRange)
attentionSwitch = Attention.AttentionSwitch(
attentionLimitation, calDistancePriorOnAttentionSlot)
computePosterior = calPosterior.CalPosteriorLog(minDistance)
print(attentionLimitation,
attentionMinDistance / distanceToVisualDegreeRatio,
attentionMaxDistance / distanceToVisualDegreeRatio)
attentionSwitchFrequencyInSimulation = np.inf
beliefUpdateFrequencyInSimulation = np.inf
updateBeliefAndAttentionInSimulation = ba.UpdateBeliefAndAttentionState(
attention, computePosterior, attentionSwitch,
transferMultiAgentStatesToPositionDF,
attentionSwitchFrequencyInSimulation,
beliefUpdateFrequencyInSimulation, burnTime)
attentionSwitchFrequencyInPlay = int(0.6 *
numMDPTimeStepPerSecond)
beliefUpdateFrequencyInPlay = int(0.2 *
numMDPTimeStepPerSecond)
updateBeliefAndAttentionInPlay = ba.UpdateBeliefAndAttentionState(
attention, computePosterior, attentionSwitch,
transferMultiAgentStatesToPositionDF,
attentionSwitchFrequencyInPlay,
beliefUpdateFrequencyInPlay, burnTime)
updatePhysicalStateByBeliefFrequencyInSimulationRoot = int(
0.2 * numMDPTimeStepPerSecond)
updatePhysicalStateByBeliefInSimulationRoot = ba.UpdatePhysicalStateImagedByBelief(
updatePhysicalStateByBeliefFrequencyInSimulationRoot,
softParaForIdentity, softParaForSubtlety)
reUpdatePhysicalStateByBeliefInSimulationRoot = ba.UpdatePhysicalStateImagedByBelief(
updatePhysicalStateByBeliefFrequencyInSimulationRoot,
softParaForIdentity=1,
softParaForSubtlety=1)
updatePhysicalStateByBeliefFrequencyInSimulation = np.inf
updatePhysicalStateByBeliefInSimulation = ba.UpdatePhysicalStateImagedByBelief(
updatePhysicalStateByBeliefFrequencyInSimulation,
softParaForIdentity, softParaForSubtlety)
updatePhysicalStateByBeliefFrequencyInPlay = np.inf
updatePhysicalStateByBeliefInPlay = ba.UpdatePhysicalStateImagedByBelief(
updatePhysicalStateByBeliefFrequencyInPlay,
softParaForIdentity, softParaForSubtlety)
transitionFunctionInSimulation = env.TransitionFunction(
resetPhysicalState, resetBeliefAndAttention,
updatePhysicalState,
transiteStateWithoutActionChangeInSimulation,
updateBeliefAndAttentionInSimulation,
updatePhysicalStateByBeliefInSimulation)
transitionFunctionInPlay = env.TransitionFunction(
resetPhysicalState, resetBeliefAndAttention,
updatePhysicalState,
transiteStateWithoutActionChangeInPlay,
updateBeliefAndAttentionInPlay,
updatePhysicalStateByBeliefInPlay)
maxRollOutSteps = 5
aliveBouns = 1 / maxRollOutSteps
deathPenalty = -1
rewardFunction = reward.RewardFunctionTerminalPenalty(
sheepId, aliveBouns, deathPenalty, isTerminal)
rewardRollout = lambda state, action, nextState: rewardFunction(
state, action)
numActionSpace = 8
actionInterval = int(360 / (numActionSpace))
actionMagnitude = actionRatio * minSheepSpeed * numFramePerSecond
actionSpace = [
(np.cos(degreeInPolar) * actionMagnitude,
np.sin(degreeInPolar) * actionMagnitude)
for degreeInPolar in np.arange(0, 360, actionInterval) /
180 * math.pi
]
getActionPrior = lambda state: {
action: 1 / len(actionSpace)
for action in actionSpace
}
cInit = 1
#cBase = 50
scoreChild = ScoreChild(cInit, cBase)
selectAction = SelectAction(scoreChild)
selectNextState = SelectNextState(selectAction)
initializeChildren = InitializeChildren(
actionSpace, transitionFunctionInSimulation,
getActionPrior)
expand = Expand(isTerminal, initializeChildren)
pWidening = PWidening(alpha, C)
expandNewState = ExpandNextState(
transitionFunctionInSimulation, pWidening)
rolloutPolicy = lambda state: actionSpace[np.random.choice(
range(numActionSpace))]
rolloutHeuristic = lambda state: 0
estimateValue = RollOut(rolloutPolicy, maxRollOutSteps,
transitionFunctionInSimulation,
rewardRollout, isTerminal,
rolloutHeuristic)
numActionPlaned = 1
outputAction = OutputAction(numActionPlaned, actionSpace)
#numSimulations = int(numTotalSimulationTimes/numTree)
#sheepColorInMcts = np.array([0, 255, 0])
#wolfColorInMcts = np.array([255, 0, 0])
#distractorColorInMcts = np.array([255, 255, 255])
#saveImageMCTS = True
#mctsRender = env.MctsRender(numAgent, screen, xBoundary[1], yBoundary[1], screenColor, sheepColorInMcts, wolfColorInMcts, distractorColorInMcts, circleSize, saveImageMCTS, saveImageFile)
#mctsRenderOn = False
#mctsRender = None
#pg.init()
#mcts = MCTS(numSimulations, selectChild, expand, rollout, backup, selectAction, mctsRender, mctsRenderOn)
pwMultipleTrees = PWMultipleTrees(numSimulations, selectAction,
selectNextState, expand,
expandNewState,
estimateValue, backup,
outputAction)
maxRunningSteps = int(25 * numMDPTimeStepPerSecond)
makeDiffSimulationRoot = MakeDiffSimulationRoot(
isTerminal, updatePhysicalStateByBeliefInSimulationRoot,
reUpdatePhysicalStateByBeliefInSimulationRoot)
runMCTSTrjactory = RunMCTSTrjactory(
maxRunningSteps, numTree, numActionPlaned,
sheepActionUpdateFrequency, transitionFunctionInPlay,
isTerminal, makeDiffSimulationRoot, render)
rootAction = actionSpace[np.random.choice(
range(numActionSpace))]
numTrial = 10
trajectories = [
runMCTSTrjactory(pwMultipleTrees)
for trial in range(numTrial)
]
savePath = getSavePath({
'chasingSubtlety': chasingSubtlety,
'subIndex': subIndex
})
tsl.saveToPickle(trajectories, savePath)
getCSVSavePath = self.getCSVSavePathByCondition(condition)
startStatsIndex = 1
def getTrueWolfIdAcc(trajectory):
AccTrial = []
for timeStepIndex in range(len(trajectory) - 2):
timeStep = trajectory[timeStepIndex]
wolfId = timeStep[0][0][3][0]
wolfSubtlety = timeStep[0][0][3][1]
#print(wolfId, '**', wolfIdInEach)
if timeStepIndex >= startStatsIndex:
IdAcc = [
int(IdAndSubtlety[0] == wolfId)
for IdAndSubtlety in timeStep[5]
]
AccTrial.append(IdAcc)
meanAcc = np.mean(AccTrial)
return meanAcc
meanIdentiy = np.mean([
getTrueWolfIdAcc(trajectory) for trajectory in trajectories
])
meanIdentiyOnConditions.update({chasingSubtlety: meanIdentiy})
def getTrueWolfIdSubtletyAcc(trajectory):
AccTrial = []
for timeStepIndex in range(len(trajectory) - 2):
timeStep = trajectory[timeStepIndex]
wolfId = timeStep[0][0][3][0]
wolfSubtlety = timeStep[0][0][3][1]
#print(wolfId, '**', wolfIdInEach)
if timeStepIndex >= startStatsIndex:
IdAndSubtletyAcc = [
int((IdAndSubtlety[0] == wolfId)
and (IdAndSubtlety[1] == wolfSubtlety))
for IdAndSubtlety in timeStep[5]
]
AccTrial.append(IdAndSubtletyAcc)
meanAcc = np.mean(AccTrial)
return meanAcc
meanPerception = np.mean([
getTrueWolfIdSubtletyAcc(trajectory)
for trajectory in trajectories
])
meanPerceptionOnConditions.update(
{chasingSubtlety: meanPerception})
def getActionDeviationLevel(trajectory):
AccTrial = []
for timeStepIndex in range(len(trajectory) - 2):
timeStep = trajectory[timeStepIndex]
actionReal = np.array(timeStep[1])
actionOnTruth = np.array(timeStep[4])
if timeStepIndex >= startStatsIndex:
deviateLevel = round(
agf.computeAngleBetweenVectors(
actionReal, actionOnTruth) / (math.pi / 4))
AccTrial.append(deviateLevel)
meanAcc = np.mean(AccTrial)
return meanAcc
meanAction = np.mean([
getActionDeviationLevel(trajectory)
for trajectory in trajectories
])
meanActionOnConditions.update({chasingSubtlety: meanAction})
def getVelocityDiff(trajectory):
AccTrial = []
for timeStepIndex in range(len(trajectory) - 2):
timeStep = trajectory[timeStepIndex]
velReal = np.array(timeStep[0][0][0][1][0])
velWithActionOnTruth = np.array(timeStep[2][1][0])
velWithActionOppo = np.array(timeStep[3][1][0])
if timeStepIndex >= startStatsIndex:
velDiffNormWithActionOnTruth = np.linalg.norm(
(velReal - velWithActionOnTruth))
velDiffNormWithActionOppo = np.linalg.norm(
(velReal - velWithActionOppo))
velDiffRatio = 1.0 * velDiffNormWithActionOnTruth / velDiffNormWithActionOppo
AccTrial.append(velDiffRatio)
meanAcc = np.mean(AccTrial)
return meanAcc
meanVelDiff = np.mean([
getVelocityDiff(trajectory) for trajectory in trajectories
])
meanVelDiffOnConditions.update({chasingSubtlety: meanVelDiff})
getEscapeAcc = lambda trajectory: int(
len(trajectory) >= (maxRunningSteps - 2))
meanEscape = np.mean(
[getEscapeAcc(trajectory) for trajectory in trajectories])
meanEscapeOnConditions.update({chasingSubtlety: meanEscape})
print(meanEscapeOnConditions)
allResults.append(meanEscapeOnConditions)
results = pd.DataFrame(allResults)
escapeCSVSavePath = getCSVSavePath({'measure': 'escape'})
results.to_csv(escapeCSVSavePath)
allIdentityResults.append(meanIdentiyOnConditions)
identityResults = pd.DataFrame(allIdentityResults)
identityCSVSavePath = getCSVSavePath({'measure': 'identity'})
identityResults.to_csv(identityCSVSavePath)
allPerceptionResults.append(meanPerceptionOnConditions)
perceptionResults = pd.DataFrame(allPerceptionResults)
perceptionCSVSavePath = getCSVSavePath({'measure': 'percetion'})
perceptionResults.to_csv(perceptionCSVSavePath)
allActionResults.append(meanActionOnConditions)
actionResults = pd.DataFrame(allActionResults)
actionCSVSavePath = getCSVSavePath({'measure': 'action'})
actionResults.to_csv(actionCSVSavePath)
allVelDiffResults.append(meanVelDiffOnConditions)
velDiffResults = pd.DataFrame(allVelDiffResults)
velDiffCSVSavePath = getCSVSavePath({'measure': 'velDiff'})
velDiffResults.to_csv(velDiffCSVSavePath)
