def run(env_name='Ant-v2', num_steps=1000):
env = gym.make(env_name)
agent = Agent(env.observation_space, env.action_space)
state = env.reset()
reward = None
done = False
for _ in range(num_steps):
env.render()
action, _ = agent.act(state, reward, done)
state, reward, done, info = env.step(action)
print(reward)
if done:
state = env.reset()
# Quadcopter stands still at the ground and has as target a height of 150 above the sarting point
init_pos = np.array([0., 0., 0., 0., 0., 0.])
target_pos = np.array([0., 0., 150.])
task = Task(init_pose=init_pos, target_pos=target_pos, runtime=10.)
agent = Agent(task)
# save rewards for plotting
rewards = []
rotor_speeds_var = []
for i_episode in range(1, num_episodes + 1):
state = agent.reset_episode() # start a new episode
step = 0
while True:
step += 1
action = agent.act(state)
next_state, reward, done = task.step(action)
agent.step(action, reward, next_state, done)
state = next_state
if done:
rewards.append(agent.score)
rotor_speeds_var.append(np.var(action))
print(
"\r\nEp={:4d}, score={:7.3f} (top={:7.3f}) pos={} {} {} {} {} {} {}"
.format(i_episode, agent.score, agent.top_score,
round(task.sim.pose[:3][0], 2),
round(task.sim.pose[:3][1], 2),
round(task.sim.pose[:3][2], 2),
round(task.sim.pose[3:6][0], 2),
round(task.sim.pose[3:6][1], 2),
round(task.sim.pose[3:6][2], 2),
'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4'
]
results = {l: [] for l in labels}
num_episodes = 500
target_pos = np.array([0., 0., 10.])
task = Task(init_pose=target_pos, target_pos=target_pos)
agent = Agent(task)
rewards = []
for i_episode in range(1, num_episodes + 1):
state = agent.reset_episode() # start a new episode
ave_reward = 0
cnt = 0
while True:
action = agent.act(state)
next_state, reward, done = task.step(action)
agent.step(action, reward, next_state, done)
state = next_state
ave_reward += reward
cnt += 1
if i_episode == 500:
to_write = [task.sim.time] + list(task.sim.pose) + list(
task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)
for ii in range(len(labels)):
results[labels[ii]].append(to_write[ii])
if done:
ave_reward /= cnt
print(
"\rEpisode = {:4d}, score = {:7.3f} (reward = {:7.3f})".format(
i_episode, agent.score, ave_reward),
