def __init__(self): self.av_table = ActionValueTable(4, 5) self.av_table.initialize(0.1) learner = SARSA() learner._setExplorer(EpsilonGreedyExplorer(0.0)) self.agent = LearningAgent(self.av_table, learner) env = HASSHEnv() task = HASSHTask(env) self.experiment = Experiment(task, self.agent)
def __init__(self): self.av_table = ActionValueTable(2, 3) self.av_table.initialize(0.1) learner = SARSA() learner._setExplorer(EpsilonGreedyExplorer(0.0)) self.agent = LearningAgent(self.av_table, learner) env = HASSHEnv() task = HASSHTask(env) self.experiment = Experiment(task, self.agent)
class KinodynamicController(object):
""" @brief: A class to handle interactions between various components of the RL module"""
def __init__(self):
""" @brief: Setting up internal parameters for the RL module"""
# Navigation Task
self._environment = NavigationEnvironment()
self._task = NavigationTask(self._environment)
# Number of States : (read from params.py)
self._states = STATES
self._state_limits = LIMITS
# Total number of states:
self._number_of_states = 1
for i in self._states:
self._number_of_states *= i
# Number of actions
self._actions = ACTION_STATES
self._action_limits = ACTION_RANGE
# Action Value Table directory
self.tables_directory = os.path.dirname(__file__) + "/tables/"
self.table_code = "S"+str(self._number_of_states)+"_"+"A"+str(self._actions)
self._filename = FILENAME + self.table_code
# Action Value Table setup
self.load_AV_Table()
# Declare ROS Service to store Action Value Table
store_service = rospy.Service('store_table', StoreAVTable, self.store_cb)
# Set up task parameters:
self._task.set_params(COMMAND_DURATION,
FUSION_WEIGHTS,
TIME_GRANULARITY,
self._state_limits,
MAX_REWARD,
COST_THRESHOLD)
# Agent set up
self._learner = SARSA(alpha,gamma)
self._learner._setExplorer(EpsilonGreedyExplorer(epsilon))
self._agent = LearningAgent(self._av_table, self._learner)
# Experiment set up
self._experiment = Experiment(self._task,self._agent)
self._experiment.set_params(STEP_SIZE)
# Start print table thread
if VISUALIZATION is True:
try:
#thread.start_new_thread(self.print_table,())
self.visualization_thread = Thread(target = self.print_table, args = () )
self.visualization_thread.start()
except:
print "Failed to start visualization thread!"
print "Successfully Initialization of RL module! (kappa)"
def store_cb(self,req):
storeData(self._av_table,self._filename)
print "Saved AV Table"
return True
def load_AV_Table(self):
load_D = loadData(self._filename)
if load_D[1] == True:
self._av_table = load_D[0]
print "Found Table!"
else:
self._av_table = ActionValueTable(self._number_of_states, self._actions)
self._av_table.initialize(0.0)
print "No training for this format. Creating new AV table"
def print_table(self):
""" @brief: Visual Representation of Action Value Table
@return: nothing
"""
matplotlib.pyplot.ion()
while True:
data = self._av_table.params.reshape(self._number_of_states,self._actions)
matplotlib.pyplot.pcolor(data,
cmap = matplotlib.pyplot.cm.RdYlGn,
vmin = -MAX_REWARD,
vmax = MAX_REWARD)
matplotlib.pyplot.draw()
rospy.sleep(2)
def __del__(self):
# Terminate visualization thread
if VISUALIZATION is True:
self.visualization_thread.join()
# Copy learned data to repo
if add_to_repo():
print "Copied data to pandora_motion_control"
else:
pass