def __init__(self):
Humanoid.__init__(self)
attributes = {
'connection' : None
}
for key in attributes.keys():
self.attributes[key] = attributes[key]
self.addEventHandler(ActorEnteredRoomHandler())
self.addEventHandler(ReceivedNotificationHandler())
self.addEventHandler(EntityDescribedSelfHandler())
self.addEventHandler(ReceivedFeedbackHandler())
self.addEventHandler(ActorEmotedHandler())
def __init__(self, actorJSON):
Humanoid.__init__(self, actorJSON)
self.attributes['connection'] = None
self.attributes['menus'] = []
self.attributes['menus'].append(RootMenu(self))
if actorJSON != None:
self.addEventHandlerByNameWithAdjusters('Actor.EventHandlers.Player.ReceivedNotificationHandler', None)
self.addEventHandlerByNameWithAdjusters('Actor.EventHandlers.Player.ReceivedFeedbackHandler', None)
self.addEventHandlerByNameWithAdjusters('Actor.EventHandlers.Player.ActorAttemptedDropHandler', None)
self.addEventHandlerByNameWithAdjusters('Actor.EventHandlers.Player.ItemDroppedHandler', None)
self.addEventHandlerByNameWithAdjusters('Actor.EventHandlers.Player.ActorInitiatedItemGrabHandler', None)
self.addEventHandlerByNameWithAdjusters('Actor.EventHandlers.Player.ActorGrabbedItemHandler', None)
self.addEventHandlerByNameWithAdjusters('Actor.EventHandlers.Player.ActorViewedEquipmentHandler', None)
def __init__(self, actorJSON):
Humanoid.__init__(self, actorJSON)
self.attributes['connection'] = None
self.attributes['menus'] = []
self.attributes['menus'].append(RootMenu(self))
if actorJSON != None:
self.addEventHandlerByNameWithAdjusters(
'Actor.EventHandlers.Player.ReceivedNotificationHandler', None)
self.addEventHandlerByNameWithAdjusters(
'Actor.EventHandlers.Player.ReceivedFeedbackHandler', None)
self.addEventHandlerByNameWithAdjusters(
'Actor.EventHandlers.Player.ActorAttemptedDropHandler', None)
self.addEventHandlerByNameWithAdjusters(
'Actor.EventHandlers.Player.ItemDroppedHandler', None)
self.addEventHandlerByNameWithAdjusters(
'Actor.EventHandlers.Player.ActorInitiatedItemGrabHandler',
None)
self.addEventHandlerByNameWithAdjusters(
'Actor.EventHandlers.Player.ActorGrabbedItemHandler', None)
self.addEventHandlerByNameWithAdjusters(
'Actor.EventHandlers.Player.ActorViewedEquipmentHandler', None)
def main():
best_reward = 16.0
# writing rewards in the csv file
file = open(reward_file, 'a')
writer = csv.writer(file)
env = Humanoid()
env_dim = [STATE_DIM, ACTION_DIM]
agent = DDPG(env_dim)
agent.actor_network.load_network(continue_eps)
agent.critic_network.load_network(continue_eps)
# main loop
for episode in range(continue_eps + 1, EPISODES):
state = env.reset()
for steps in range(MAX_STEPS_PER_EPS):
action = agent.noise_action(state)
next_state, reward, done, _ = env.step(action)
agent.perceive(state, action, reward, next_state, done)
# env.unpause()
state = next_state
if steps >= MAX_STEPS_PER_EPS - 1:
done = True
if done:
print("Episode " + str(episode) + " : steps count = " +
str(steps) + " , reward =" + str(reward))
break
# Testing:
if episode % 50 == 0 and episode != 0:
traj_file = open(trajectory_file, 'wt')
traj_writer = csv.writer(traj_file, delimiter='\t')
traj_writer.writerow([
'gx', 'gy', 'gz', 'vx', 'vy', 'vz', 'wx', 'wy', 'wz', 'q 9',
'q 10', 'q 11', 'q 12', 'q 13', 'q 14', 'q 15', 'q 16', 'q 17',
'q 18', 'qd 9', 'qd 10', 'qd 11', 'qd 12', 'qd 13', 'qd 14',
'qd 15', 'qd 16', 'qd 17', 'qd 18', 'tc1', 'tc2', 'duration'
])
print("testing...")
total_reward = 0
count_of_1 = 0
agent.actor_network.save_network(episode)
agent.critic_network.save_network(episode)
for i in range(TEST):
state = env.reset()
for steps in range(MAX_STEPS_PER_EPS):
action = agent.action(state) # direct action for test
next_state, reward, done, _ = env.step(action)
traj_writer.writerow(state)
traj_file.flush()
# todo : find what this for
# if reward == 1:
# count_of_1 += 1
total_reward += reward
if steps >= MAX_STEPS_PER_EPS - 1:
done = True
if done:
# print("Episode TEST finished !")
break
ave_reward = total_reward / TEST
# env.latest_reward = ave_reward
if ave_reward > best_reward:
best_reward = ave_reward
# env.avg_reward = ave_reward
writer.writerow([ave_reward])
file.flush()
print("episode: ", episode, "Evaluation Average Reward: ",
ave_reward)
print("best_reward: ", best_reward)
pass
