def run_agent_Q_RMS_param(num_runs, num_episodes, discount, step_size, step=1, agent_type="Sarsa"):
""" Run the n-step Sarsa agent and return the avg Q-value RMS over episodes and runs """
mdp = RandomWalk(19, -1)
s = mdp.init()
# ground truth for value
gt_v = np.asarray(mdp.Q_equiprobable(discount)[1:-1])
# Arrays for RMS error over all states
rms_err = np.asarray([0.0] * num_episodes)
sum_rms_err = 0.0
# create n-step agent
print("Starting agent {}-step {}".format(step, agent_type))
if agent_type.lower() == "sarsa":
agent = Sarsa(mdp, s, step)
elif agent_type.lower() == "expsarsa":
agent = ExpSARSA(mdp, s, step)
elif agent_type.lower() == "treebackup":
agent = TreeBackup(mdp, s, step)
elif agent_type.lower() == "qsigma":
agent = QSigma(mdp, 0.5, s, step)
else:
raise Exception("Wrong type of agent")
for run in range(num_runs):
for i in range(num_episodes):
agent.episode(discount, step_size, 10000)
agent.init()
rms_err[i] = np.sqrt(np.mean(np.square(np.asarray(agent.Q[1:-1]) - gt_v)))
sum_rms_err += np.sum(rms_err)
# Reset Q after a run
agent.reset_Q()
# averaged over num_runs and num_episodes
return sum_rms_err / (num_runs * num_episodes)
def run_agent_RMS_value(num_runs, num_episodes, discount, step_size, step=1):
""" Run SARSA agent for num_episodes to get the state values """
mdp = RandomWalk(19, -1)
s = mdp.init()
# ground truth for value
gt_v = np.asarray(mdp.value_equiprobable(discount)[1:-1])
# initial value
init_v = np.asarray([0.5] * mdp.num_states())[1:-1]
# Arrays for RMS error over all states
rms_err = np.asarray([0.0] * (num_episodes + 1))
sum_rms_err = np.asarray([0.0] * (num_episodes + 1))
rms_err[0] = np.sqrt(np.mean(np.square(init_v - gt_v)))
# create n-step SARSA agent
agent = Sarsa(mdp, s, step)
for run in range(num_runs):
for i in range(num_episodes):
agent.episode(discount, step_size, 10000)
agent.init()
rms_err[i + 1] = np.sqrt(np.mean(np.square(np.asarray(agent.Q_to_value()[1:-1]) - gt_v)))
sum_rms_err += rms_err
# Reset Q after a run
agent.reset_Q()
# averaged over num_runs
return sum_rms_err / num_runs
def print_value():
""" Print the RMS error on state values """
mdp = RandomWalk(19, 1)
# ground truth for value
gt_v = np.asarray(mdp.value_equiprobable(1.0)[1:-1])
# initial value
init_v = np.asarray([0.5] * mdp.num_states())[1:-1]
rms_err = np.sqrt(np.mean(np.square(init_v - gt_v)))
print("RMS error is ", rms_err)
def main():
rw = RandomWalk()
rw.fill_walk()
fig, ax = plt.subplots()
ax.plot(rw.x_values, rw.y_values, linewidth=5)
ax.get_xaxis().set_visible(False)
ax.get_yaxis().set_visible(False)
plt.show()
def run_agent_value(num_episodes, discount, step_size, step=1):
""" Run SARSA agent for num_episodes to get the state values"""
mdp = RandomWalk(19)
s = mdp.init()
step = step
# create n-step SARSA agent
agent = Sarsa(mdp, s, step)
for i in range(num_episodes):
agent.episode(discount, step_size)
agent.init()
return agent.Q_to_value()
def benchmark(alg_class, title, fn, sub=3):
fig, ax = plt.subplots()
fig.suptitle(title, fontsize=BIG_FONT)
fig.set_size_inches(20, 14)
def vhat(s, w):
return vhat_st_agg(s, w, FIG_12_3_N_ST)
def nab_vhat(s, w):
return nab_vhat_st_agg(s, w, FIG_12_3_N_ST)
alg = alg_class(RandomWalk(), None, FIG_12_3_N_ST, None, vhat, nab_vhat,
FIG_12_3_G)
xticks, yticks = np.linspace(0, 1, 6), np.linspace(0.25, 0.55, 7)
def short_str(x):
return str(x)[:3]
xnames, ynames = map(short_str, xticks), map(short_str, yticks)
run_random_walks(ax, alg, FIG_12_3_LAM_L, FIG_12_3_N_EP, FIG_12_3_N_RUNS,
sub)
plot_figure(ax,
'',
xticks,
xnames,
'alpha',
yticks,
ynames, (f'Average\nRMS error\n({FIG_12_3_N_ST} states,\n ' +
f'{FIG_12_3_N_EP} episodes)'),
font=MED_FONT,
labelpad=40,
loc='upper right')
save_plot(fn, dpi=100)
plt.show()
def fig_9_2():
fig = plt.figure()
fig.suptitle('Figure 9.2')
env = RandomWalk()
pi = {(EMPTY_MOVE, s): 1 for s in env.states}
true_vals = get_true_vals(env, pi)
semi_grad_td = SemiGradientTD0(env, FIG_9_2_ALP, FIG_9_2_W_DIM_L)
semi_grad_td.seed(0)
semi_grad_td.pol_eva(pi, vhat_st_agg, nab_vhat_st_agg, FIG_9_2_N_EP_L,
FIG_9_2_G)
est_vals = [vhat_st_agg(s, semi_grad_td.w) for s in env.states][:-1]
ax1 = fig.add_subplot('121')
ax1.plot(est_vals, 'b', label='Approximate TD value vhat')
ax1.plot(true_vals, 'r', label='True value v_pi')
plot_figure(ax1, '', [0, 999], [1, 1000], 'State', [-1, 0, 1], [-1, 0, 1],
'\n\nValue\nScale')
nstep_semi_grad = nStepSemiGrad(env, None, FIG_9_2_W_DIM_R, FIG_9_2_G, 0)
ax2 = fig.add_subplot('122')
param_study(ax2,
nstep_semi_grad,
pi,
vhat_st_agg,
nab_vhat_st_agg,
FIG_9_2_N_EP_R,
FIG_9_2_N_RUNS_R,
true_vals=true_vals,
max_n=FIG_9_2_MAX_N,
gamma=FIG_9_2_G)
plt.legend()
fig.set_size_inches(20, 14)
save_plot('fig9.2', dpi=100)
plt.show()
def fig_7_2():
fig, ax = plt.subplots()
ax.set_title('Figure 7.2')
n_l = [1]
alpha_l = np.linspace(0, 1, 11)
env = RandomWalk(n_states=FIG_7_2_N_STATES)
pi = {(a, s): 1.0 for s in env.states for a in env.moves_d[s]}
true_vals = true_values(env.n_states)
for n in n_l:
print(f">> n={n}")
err_l = []
for alpha in alpha_l:
print(f"alpha={alpha}")
err_sum = 0
alg = nStepTD(env, V_init=None, step_size=alpha, gamma=UND, n=n)
for seed in range(FIG_7_2_N_RUNS):
alg.reset()
alg.seed(seed)
#alg.pol_eval(pi, n_ep=FIG_7_2_N_EP)
alg.simple_td(pi, n_ep=FIG_7_2_N_EP)
v_arr = np.array(alg.get_value_list()[:-1])
err_sum += np.linalg.norm(v_arr - true_vals)
err_l.append(err_sum / FIG_7_2_N_RUNS)
plt.plot(alpha_l, err_l, label=f'n={n}')
ax.set_xticks(np.linspace(0, 1, 6))
ax.set_xlabel('Stepsize')
ax.set_ylabel(
f'Average RMS error ({FIG_7_2_N_STATES} states, first {FIG_7_2_N_EP} episodes)'
)
plt.legend()
plt.show()
def init_random_walk(init_value, step_size=None):
env = RandomWalk()
pi = {(a, s): 1.0 for s in env.states for a in env.moves}
V_0 = [init_value
for s in env.states[:-1]] + [0] # V = 0 for absorbing state
V_init = {s: V_0[idx] for (idx, s) in enumerate(env.states)}
alg = OneStepTD(env,
V_init=V_init,
step_size=step_size,
gamma=UNDISCOUNTED)
return alg, pi
def run_random_walks(ax,
ex_7_2=False,
show=True,
extra_label='',
dashed=False,
n_runs=FIG_7_2_N_RUNS,
n_states=FIG_7_2_N_STATES,
left_rew=-1,
true_vals=None,
V_init=None):
n_l = [2**k for k in range(int(np.log(FIG_7_2_MAX_N) / np.log(2)) + 1)]
env = RandomWalk(n_states=n_states, r_l=left_rew)
pi = {(a, s): 1.0 for s in env.states for a in env.moves_d[s]}
true_vals = np.linspace(-1, 1, env.n_states +
2)[1:-1] if true_vals is None else true_vals
alg = nStepTD(env,
V_init=V_init,
step_size=None,
gamma=UND,
n=n_l[0],
ex_7_2=ex_7_2)
for n in n_l:
alg.n = n
print(f">> n={n}")
err_l = []
alpha_max = 1 if (n <= 16
or ex_7_2) else 1 / (np.log(n // 8) / np.log(2))
alpha_l = np.linspace(0, alpha_max, 31)
for alpha in alpha_l:
alg.step_size = alpha
print(f"alpha={alpha}")
err_sum = 0
for seed in range(n_runs):
alg.reset()
alg.seed(seed)
for ep in range(FIG_7_2_N_EP):
alg.pol_eval(pi, n_ep=1)
v_arr = np.array(alg.get_value_list()[:-1])
err_sum += np.sqrt(
np.sum((v_arr - true_vals)**2) / env.n_states)
err_l.append(err_sum / (n_runs * FIG_7_2_N_EP))
plt.plot(alpha_l,
err_l,
label=f'{extra_label} n={n}',
linestyle='dashed' if dashed else None)
ax.set_xticks(np.linspace(0, 1, 6))
yticks = np.linspace(0.25, 0.55, 6)
ax.set_yticks(yticks)
ax.set_ylim([min(yticks), max(yticks)])
ax.set_xlabel('Stepsize')
ax.set_ylabel(
f'Average RMS error ({env.n_states} states, first {FIG_7_2_N_EP} episodes)'
)
def example_randomwalk():
# create an MDP
env = RandomWalk(19)
# create 1-step SARSA agent
agent = Sarsa(env, env.init(), 1)
agent2 = Sarsa(env, env.init(), 1)
# act using equiprobable random policy with discount = 0.9 and step size = 0.1
num_episode = 100
for iter in range(num_episode):
agent.episode(0.9, 0.1)
agent.init()
agent2.set_policy_eps_greedy(0.5)
for iter in range(num_episode):
agent2.episode(0.9, 0.1)
agent2.init()
print('Equiprobable Q_SARSA[s][a]', agent.Q)
print('Eps greedy Q_SARSA[s][a]', agent2.Q)
def fig_9_5():
fig, ax = plt.subplots()
env = RandomWalk()
pi = {(EMPTY_MOVE, s): 1 for s in env.states}
true_vals = get_true_vals(env, pi)
for (feat, alp, label) in [(poly_feat, FIG_9_5_ALP_POL,
'polynomial basis'),
(four_feat, FIG_9_5_ALP_FOU, 'fourier basis')]:
for base in FIG_9_5_BAS:
def vhat(s, w):
return np.dot(w, feat(s / 1000, base))
def nab_vhat(s, w):
return feat(s / 1000, base)
w_dim = base + 1
grad_mc = GradientMC(env, alp, w_dim)
err_sum = np.zeros(FIG_9_5_N_EP)
for seed in range(FIG_9_5_N_RUNS):
print(f"seed={seed}")
grad_mc.reset()
grad_mc.seed(seed)
err_per_ep = []
for ep in range(FIG_9_5_N_EP):
if ep % 100 == 0 and ep > 0:
print(ep)
grad_mc.pol_eva(pi,
vhat,
nab_vhat,
n_ep=1,
gamma=FIG_9_5_G)
est_vals = [vhat(s, grad_mc.w) for s in env.states][:-1]
err_per_ep.append(
np.sqrt(
np.dot(grad_mc.mu[:-1],
(est_vals - true_vals[:-1])**2)))
err_sum += err_per_ep
plt.plot(err_sum / FIG_9_5_N_RUNS, label=f'{label}, n={base}')
plt.legend()
plot_figure(ax,
'Figure 9.5', [0, 5000], [0, 5000],
"Episodes", [0, 0.1, 0.2, 0.3, 0.4],
['0', '0.1', '0.2', '0.3', '0.4'],
f"Square-Root\nValue Error\n({FIG_9_5_N_RUNS} runs)",
labelpad=30,
font=MED_FONT,
loc='lower left')
fig.set_size_inches(20, 14)
save_plot('fig9.5', dpi=100)
plt.show()
def plot_value():
""" Plot the state values for random walk, found by Sarsa agent.
Compare the effect on n-step.
"""
num_episodes = 200
discount = 1
step_size = 0.1
value_list = []
for step in [2 ** x for x in range(5)]:
value_list.append(run_agent_value(num_episodes, discount, step_size, step))
mdp = RandomWalk(19)
# ground truth for V
gt_v = mdp.value_equiprobable(discount)
# plot the value
plt.plot(range(1, 20), gt_v[1:-1], 'ro-', label="True Value")
colors = ["y", "b", "g", "m", "c"]
for i, value in enumerate(value_list):
plt.plot(range(1, 20), value[1:-1], 'o-', color=colors[i], label="{}-step SARSA".format(2 ** i))
plt.legend(loc="upper left")
plt.xlabel("State")
plt.title("Value estimation of n-step Sarsa after {} episodes".format(num_episodes))
plt.show()
def main():
"""Root function."""
while True:
rw = RandomWalk()
rw.fill_walk()
fig, ax = plt.subplots()
point_numbers = range(rw.num_points)
ax.scatter(rw.x_values,
rw.y_values,
s=5,
c=point_numbers,
cmap=plt.cm.Blues,
edgecolors='none')
ax.scatter(0, 0, c='green', s=50)
ax.scatter(rw.x_values[-1], rw.y_values[-1], c='red', s=50)
plt.show()
keep_running = input('Do you want to make another walk? (y/n): ')
if keep_running.lower() == 'n':
break
def fig_7_2():
fig, ax = plt.subplots()
ax.set_title('Figure 7.2')
n_l = [2**k for k in range(int(np.log(512) / np.log(2)) + 1)]
env = RandomWalk(n_states=FIG_7_2_N_STATES)
pi = {(a, s): 1.0 for s in env.states for a in env.moves_d[s]}
true_vals = np.linspace(-1, 1, env.n_states + 2)[1:-1]
alg = nStepTD(env, V_init=None, step_size=None, gamma=UND, n=None)
for n in n_l:
alg.n = n
print(f">> n={n}")
err_l = []
alpha_max = 1 if n <= 16 else 1 / (np.log(n // 8) / np.log(2))
alpha_l = np.linspace(0, alpha_max, 31)
for alpha in alpha_l:
alg.step_size = alpha
print(f"alpha={alpha}")
err_sum = 0
for seed in range(FIG_7_2_N_RUNS):
alg.reset()
alg.seed(seed)
for ep in range(FIG_7_2_N_EP):
alg.pol_eval(pi, n_ep=1)
v_arr = np.array(alg.get_value_list()[:-1])
err_sum += np.sqrt(
np.sum((v_arr - true_vals)**2) / FIG_7_2_N_STATES)
err_l.append(err_sum / (FIG_7_2_N_RUNS * FIG_7_2_N_EP))
plt.plot(alpha_l, err_l, label=f'n={n}')
ax.set_xticks(np.linspace(0, 1, 6))
yticks = np.linspace(0.25, 0.55, 6)
ax.set_yticks(yticks)
ax.set_ylim([min(yticks), max(yticks)])
ax.set_xlabel('Stepsize')
ax.set_ylabel(
f'Average RMS error ({FIG_7_2_N_STATES} states, first {FIG_7_2_N_EP} episodes)'
)
plt.legend(fontsize='x-small')
plt.show()
def fig_9_1():
env = RandomWalk()
pi = {(EMPTY_MOVE, s): 1 for s in env.states}
true_vals = get_true_vals(env, pi)
grad_mc = GradientMC(env, FIG_9_1_ALP, FIG_9_1_W_DIM)
grad_mc.seed(0)
grad_mc.pol_eva(pi, vhat_st_agg, nab_vhat_st_agg, FIG_9_1_N_EP, FIG_9_1_G)
est_vals = [vhat_st_agg(s, grad_mc.w) for s in env.states][:-1]
fig, ax1 = plt.subplots()
ax1.plot(est_vals, 'b', label='Approximate MC value vhat')
ax1.plot(true_vals, 'r', label='True value v_pi')
plot_figure(ax1, 'Figure 9.1', [0, 999], [1, 1000], 'State', [-1, 0, 1],
[-1, 0, 1], '\n\nValue\nScale')
ax2 = ax1.twinx()
ax2.set_yticks([0, 0.0017, 0.0137])
ax2.set_ylabel('Distribution\nscale', rotation=0, fontsize=MED_FONT)
ax2.plot(grad_mc.mu[:-1], 'm', label='State distribution mu')
plt.legend()
fig.set_size_inches(20, 14)
save_plot('fig9.1', dpi=100)
plt.show()
def run_agent_RMS_Q(num_runs, num_episodes, discount, step_size, step=1):
""" Run SARSA agent for num_episodes to get the Q values """
mdp = RandomWalk(19)
s = mdp.init()
# ground truth for Q
gt_Q = np.asarray(mdp.Q_equiprobable(discount)[1:-1])
gt_Q_left = gt_Q[:, 0]
gt_Q_right = gt_Q[:, 1]
v = np.asarray([0.5] * mdp.num_states())
v[0], v[-1] = 0.0, 0.0
init_Q_left = np.asarray(mdp.value_to_Q(v, discount)[1:-1])[:, 0]
init_Q_right = np.asarray(mdp.value_to_Q(v, discount)[1:-1])[:, 1]
# Arrays for RMS error over all states
rms_err_left = np.asarray([0.0] * (num_episodes + 1)) # Q[left]
rms_err_right = np.asarray([0.0] * (num_episodes + 1)) # Q[right]
sum_rms_err_left = np.asarray([0.0] * (num_episodes + 1))
sum_rms_err_right = np.asarray([0.0] * (num_episodes + 1))
rms_err_left[0] = np.sqrt(np.mean(np.square(init_Q_left - gt_Q_left)))
rms_err_right[0] = np.sqrt(np.mean(np.square(init_Q_right - gt_Q_right)))
# create n-step SARSA agent
agent = Sarsa(mdp, s, step)
for run in range(num_runs):
for i in range(num_episodes):
agent.episode(discount, step_size, 10000)
agent.init()
rms_err_left[i + 1] = np.sqrt(np.mean(np.square(np.asarray(agent.Q[1:-1])[:, 0] - gt_Q_left)))
rms_err_right[i + 1] = np.sqrt(np.mean(np.square(np.asarray(agent.Q[1:-1])[:, 1] - gt_Q_right)))
sum_rms_err_left += rms_err_left
sum_rms_err_right += rms_err_right
# Reset Q after a run
agent.reset_Q()
# averaged over num_runs
return sum_rms_err_left / num_runs, sum_rms_err_right / num_runs
def decay_agent(n=1, alpha=0.5, episodes=100, ep_start=30, decay=0.7):
""" Run an agent for specified n-step Qsigma method with sigma decay"""
mdp = RandomWalk(19, -1)
s = mdp.init()
num_runs = 250
num_episodes = episodes
discount = 1.0
step_size = alpha
steps = n
# Arrays for sum of rewards for each episodes
Q_opt = mdp.Q_equiprobable(1.0)
rms_err = 0.0
# create n-step Qsigma agent
agent = QSigma(mdp, 1.0, s, steps)
agent.set_policy_equiprobable()
for run in range(num_runs):
sqerr = 0.0
agent._Psigma = 1.0
for i in range(num_episodes):
if i > ep_start:
agent._Psigma *= decay
agent.episode(discount, step_size)
agent.init()
count = 0
for s in range(mdp.num_states()):
for a in range(mdp.num_actions(s)):
count += 1
sqerr += (1 / count) * (
(agent.Q[s][a] - Q_opt[s][a])**2 - sqerr)
rms_err += sqerr**0.5
# Reset Q after a run
agent.reset_Q()
rms_err /= num_runs
return rms_err
def example_randomwalk():
""" An example on random walk MDP """
# create an MDP
env = RandomWalk(19, -1)
# create n-step TreeBackup agent
agent = TreeBackup(env, env.init(), 3)
agent2 = TreeBackup(env, env.init(), 3)
# act using equiprobable random policy with discount = 0.9 and step size = 0.1
num_episode = 1000
for iter in range(num_episode):
agent.episode(0.9, 0.1)
agent.init()
agent2.set_policy_eps_greedy(0.1)
for iter in range(num_episode):
agent2.episode(0.9, 0.1)
agent2.init()
print('Q_DP[s][a] ', env.Q_equiprobable(0.9))
print('Q_eps_greedy[s][a] ', env.Q_eps_greedy(0.1, 0.9))
print('Equiprobable Q_TreeBackup[s][a]', agent.Q)
print('Eps greedy Q_TreeBackup[s][a]', agent2.Q)
def example_randomwalk():
""" An example on random walk MDP """
# create an MDP
env = RandomWalk(19, -1)
# create n-step QSigma agent
agent = QSigma(env, 0.5, env.init(), 3) #Psigma=0.5, init_state=env.init(), steps=3
agent2 = QSigma(env, 0.5, env.init(), 3)
# act using equiprobable random policy with discount = 0.9 and step size = 0.1
num_episode = 1000
for iter in range(num_episode):
agent.episode(0.9, 0.1)
agent.init()
agent2.set_policy_eps_greedy(0.1)
for iter in range(num_episode):
agent2.episode(0.9, 0.1)
agent2.init()
print('Q_DP[s][a] ', env.Q_equiprobable(0.9))
print('Q_eps_greedy[s][a] ', env.Q_eps_greedy(0.1, 0.9))
print('Equiprobable Q_Q(sigma)[s][a]', agent.Q)
print('Eps greedy Q_Q(sigma)[s][a]', agent2.Q)
# /* Init TCP server, __hosting process and request function */
mainlogger.info('Initialising TCP server...')
tcp = TCP_server(me.enode, me.ip, tcpPort)
# /* Init E-RANDB __listening process and transmit function
mainlogger.info('Initialising RandB board...')
erb = ERANDB(erbDist, me.id, erbtFreq)
# /* Init Ground-Sensors, __mapping process and vote function */
mainlogger.info('Initialising ground-sensors...')
gs = GroundSensor(gsFreq)
# /* Init Random-Walk, __walking process */
mainlogger.info('Initialising random-walk...')
rw = RandomWalk(rwSpeed)
# /* Init LEDs */
rgb = RGBLEDs()
# List of submodules --> iterate .start() to start all
submodules = [w3.geth.miner, tcp, erb, gs, rw, pb]
# /* Define Main-modules */
#######################################################################
# The 4 Main-modules:
# "Estimate" Rate 1Hz) queries groundsensor and generates a robot estimate (opinion)
# "Buffer" (Rate 1Hz) queries RandB to get neighbor identities and add/remove on Geth
# "Vote" (Rate 1/45Hz) communicate with geth to send votes every 45s
# "Event" (Every block) when a new block is detected make blockchain queries/sends/log block data
import matplotlib.pyplot as plt
from randomwalk import RandomWalk
while True:
rw_visual = RandomWalk()
rw_visual.fill_walk()
point_numbers = list(range(rw_visual.numpoints))
# c=point_numbers: gradient from first position to ending position
plt.figure(figsize=(10, 6))
plt.scatter(rw_visual.x_values,
rw_visual.y_values,
c=point_numbers,
cmap=plt.cm.Blues,
edgecolor='none',
s=10)
plt.scatter(rw_visual.x_values[0], rw_visual.y_values[0], c='green', s=10)
plt.scatter(rw_visual.x_values[-1], rw_visual.y_values[-1], c='red', s=10)
plt.axes().get_xaxis().set_visible(False)
plt.axes().get_yaxis().set_visible(False)
plt.show()
user_input = input('Do you want to make another plot? y/n ')
if user_input.lower() == 'n':
break
import time
from erandb import ERANDB
from randomwalk import RandomWalk
from rgbleds import RGBLEDs
from groundsensor import GroundSensor
id = open("/boot/pi-puck_id", "r").read().strip()
print('Initialising E-RANDB board...')
erb = ERANDB(100)
print('Initialising Random-Walk...')
rw = RandomWalk(500)
print('Initialising Ground-Sensors...')
gs = GroundSensor(100)
# /* Init LEDs */
rgb = RGBLEDs()
erb.start()
rw.start()
gs.start()
counts = 0
newValues = 0
while 1:
erb.transmit(id)
for newId in erb.getNew():
counts += 1
#print(str(newId))
import matplotlib.pyplot as plt
from randomwalk import RandomWalk
while True:
rwalk = RandomWalk(50000)
rwalk.walk()
plt.scatter(rwalk.x_values,rwalk.y_values,c=rwalk.x_values, cmap = plt.cm.Blues,
edgecolor = 'none', s=2)
#Marking the start and end points
plt.scatter(0,0, c='green', s=20)
plt.scatter(rwalk.x_values[-1],rwalk.y_values[-1], c='red', s=20)
#Removing axes
plt.axes().get_xaxis().set_visible(False)
plt.axes().get_yaxis().set_visible(False)
plt.show()
active = input("Make another walk (y/n)? ")
if active.lower() == 'n':
break
import matplotlib.pyplot as plt
from randomwalk import RandomWalk
while True:
rw = RandomWalk(200)
rw.fill_walk()
#set the size of the plotting window
plt.figure(dpi=128, figsize=(10, 6)) # dpi = resolution of the figure
point_numbers = list(range(rw.num_points))
plt.scatter(rw.x_values,
rw.y_values,
c=point_numbers,
cmap=plt.cm.Blues,
edgecolor='none',
s=1)
#graph first and last points bigger
plt.scatter(0, 0, c='green', edgecolors='none', s=100)
plt.scatter(rw.x_values[-1],
rw.y_values[-1],
c='red',
edgecolors='none',
s=100)
def fig_9_10():
fig, ax = plt.subplots()
env = RandomWalk()
pi = {(EMPTY_MOVE, s): 1 for s in env.states}
true_vals = get_true_vals(env, pi)
def feat_tile(s, offset, st_per_agg):
if s < offset:
return 0
return (s - offset) // st_per_agg + 1
def feat(s, st_per_agg, n_tiles):
dx = st_per_agg // n_tiles if n_tiles > 1 else 0
ft_per_til = FIG_9_10_TOT_ST // st_per_agg + (n_tiles > 1)
feat_arr = np.zeros(ft_per_til * n_tiles)
for n in range(n_tiles):
idx_min = n * ft_per_til
s_id = feat_tile(s, n * dx, st_per_agg) - (n_tiles == 1)
feat_arr[idx_min + s_id] = True
return feat_arr.astype(bool)
for (idx, n_tiles) in enumerate(FIG_9_10_TIL_L):
def feat_vec(s):
return feat(s, FIG_9_10_ST_AGG, n_tiles)
def vhat(s, w):
return np.sum(w[feat_vec(s)]) if s < FIG_9_10_TOT_ST else 0
def nab_vhat(s, w):
return feat_vec(s) if s < FIG_9_10_TOT_ST else 0
w_dim = (FIG_9_10_TOT_ST // FIG_9_10_ST_AGG + (n_tiles > 1)) * n_tiles
grad_mc = GradientMC(env, FIG_9_10_ALP_TIL_L[idx], w_dim)
print(f"w_dim={w_dim}, alpha={grad_mc.a}, n_tiles={n_tiles}")
err_sum = np.zeros(FIG_9_10_N_EP)
for seed in range(FIG_9_10_N_RUNS):
print(f"seed={seed}")
grad_mc.reset()
grad_mc.seed(seed)
err_per_ep = []
for ep in range(FIG_9_10_N_EP):
if ep % 100 == 0 and ep > 0:
print(ep)
grad_mc.pol_eva(pi, vhat, nab_vhat, n_ep=1, gamma=FIG_9_10_G)
est_vals = [vhat(s, grad_mc.w) for s in env.states][:-1]
err_per_ep.append(
np.sqrt(
np.dot(grad_mc.mu[:-1],
(est_vals - true_vals[:-1])**2)))
err_sum += np.array(err_per_ep)
plt.plot(err_sum / FIG_9_10_N_RUNS,
label=(('State Aggregation' if
(n_tiles > 1) else 'Tile Coding') +
f' ({n_tiles} tile{"s" * (n_tiles > 1)})'))
plt.legend()
plot_figure(ax,
'Figure 9.10', [0, 5000], [0, 5000],
"Episodes", [0, 0.1, 0.2, 0.3, 0.4],
['0', '0.1', '0.2', '0.3', '0.4'],
f"Square-Root\nValue Error\n({FIG_9_10_N_RUNS} runs)",
labelpad=30,
font=MED_FONT,
loc='lower left')
fig.set_size_inches(20, 14)
save_plot('fig9.10', dpi=100)
plt.show()
import os
import re
import subprocess
from datetime import datetime
from randomwalk import RandomWalk
print("Generating a random walk...")
random_walk = RandomWalk()
length = random_walk.length
steps = random_walk.config.steps
date_time = re.sub('[^0-9]', '_', str(datetime.now()))
output_directory = "{0}/{1}".format(random_walk.config.output_directory,
date_time)
os.mkdir(output_directory)
data_filename = output_directory + "/walk.txt"
avi_filename = output_directory + "/walk.avi"
print("A random walk generated successfully. Exporting data to '{0}' file...".
format(data_filename))
random_walk.export_walk(data_filename)
print("Exporting the plot to '{0}/' directory...".format(output_directory))
random_walk.make_plot(output_directory, steps)
print(
"Generating a sound wave to '{0}/' directory...".format(output_directory))
random_walk.make_sound(output_directory, steps)
print("Converting images to '{0}' avi file...".format(avi_filename))
subprocess.Popen(
resume = False
n_runs = 100
n_eps = 100
ns = [1, 3, 5]
alphas = [0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0]
#sigmas = [0.0, 0.25, 0.5, 0.75, 1.0, -0.95]
sigmas = [-0.9]
# def __init__(self, steps=1, init_sigma=1.0,step_size=0.1, beta=1.0):
gamma = 0.9
max_steps = 10000
# WANT RMS ERROR
mdp = RandomWalk(19, -1)
Q_opt = mdp.Q_equiprobable(gamma)
Q_opt[0] = [0, 0]
Q_opt[20] = [0, 0]
Q_opt = np.array(Q_opt)[1:-1]
if resume:
R_final = pickle.load(open('rwQsig_R_final.p', 'rb'))
else:
R_final = np.array(
[[[[[0.0] * n_eps] * n_runs] * len(sigmas)] * len(alphas)] *
len(ns)) # R_final[steps, alpha, sigma, run, ep]
for n, steps in enumerate(ns):
for a, alpha in enumerate(alphas):
for s, sigma in enumerate(sigmas):
import matplotlib.pyplot as plt
from randomwalk import RandomWalk
#Make a random walk , and plot the points
while True:
#Creacion de objeto y llamada al metodo
rw = RandomWalk(50000)
rw.fill_walk()
#Generate scatter
point_numbers = list(range(rw.num_points))
plt.scatter(rw.x_values,rw.y_values,c=point_numbers, cmap=plt.cm.Blues,edgecolor='none',s=1)
#Emphasize the first and last points.
plt.scatter(0,0,c='green',edgecolor='none',s=100)
plt.scatter(rw.x_values[-1],rw.y_values[-1],c='red',edgecolor='none',s=100)
plt.show()
keep_running = input("Make another walk? (y/n): ")
if keep_running == 'n':
break
hist.y_title = 'Frequency of Result'
hist.add('D6 + D6 + D6', result_frequency)
hist.render_to_file('visual_3.svg')
# Matplotlib to create a die-rolling visualisation
plt.figure(figsize=(10, 6))
plt.scatter([x for x in range(2, max(results) + 1)], result_frequency, s=15)
plt.xlabel('D6 + D6', fontsize=14)
plt.ylabel('Frequency', fontsize=14)
plt.show()
# Pygal to create a visualisation for random walk (count how many times in the same coordinate)
journey = RandomWalk(numpoints=50)
journey.fill_walk()
sorted_journey_set = sorted(set(journey.x_values))
same_coordinates_count = []
for x in sorted_journey_set:
same_coordinates_count.append(journey.x_values.count(x))
hist = pygal.Bar()
hist.x_title = 'x coordinate'
hist.y_title = 'count'
hist.x_labels = [str(x) for x in sorted_journey_set]
hist.add('', same_coordinates_count)
hist.render_to_file('randomwalk.svg')