def train(self, training_files, learningrate=0.01, scaling=True, noise=False, verbose=True):
print "building dataset..."
ds = SupervisedDataSet(SensorModel.array_length(self.sensor_ids), 1)
# read training file line, create sensormodel object, do backprop
a = None
s = None
for logfile in training_files:
print "loading file", logfile
with open(logfile) as f:
for line in f:
if line.startswith("Received:"):
s = SensorModel(string=line.split(' ', 1)[1])
elif line.startswith("Sending:"):
a = Actions.from_string(string=line.split(' ', 1)[1])
if s is not None and a is not None:
ds.addSample(inp=s.get_array(self.sensor_ids), target=a[self.action_ids[0]])
if noise:
# add the same training sample again but with noise in the sensors
s.add_noise()
ds.addSample(inp=s.get_array(self.sensor_ids), target=a[self.action_ids[0]])
s = None
a = None
print "dataset size:", len(ds)
if scaling:
print "scaling dataset"
self.scaler_input = StandardScaler(with_mean=True, with_std=False).fit(ds.data['input'])
ds.data['input'] = self.scaler_input.transform(ds.data['input'])
ds.data['target'] = ds.data['target']
#self.trainer = BackpropTrainer(self.net, learningrate=learningrate, verbose=verbose)
self.trainer = RPropMinusTrainer(self.net, verbose=verbose, batchlearning=True)
print "training network..."
self.trainer.trainUntilConvergence(dataset=ds, validationProportion=0.25, maxEpochs=10, continueEpochs=2)
def get_action(self, sensors):
a = Actions(accel=self.default_accel)
if self.steering is not None:
a.steering = self.steering.get_action(sensors)
if self.accel is not None:
a.accel = self.accel.get_action(sensors)
elif self.max_speed is not None and abs(sensors['speedX']) > self.max_speed:
a.accel = 0.05
if self.gear is not None:
a.gear = self.gear.get_action(sensors)
else:
a.gear = self.update_gear(sensors)
a.clutch = self.update_clutch()
if self.brake is not None:
a.brake = self.brake.get_action(sensors) * self.brake_factor
return a
