def transform(self, state):
# Normalize values to range from [0, 1] for use in transformations
position, velocity = state
position = (position + 1.2) / 1.8
velocity = (velocity + 0.07) / 0.14
assert 0 <= position <= 1
assert 0 <= velocity <= 1
position *= 2
velocity *= 2
if self.mode == "tile":
if self.iht is None:
self.iht = IHT(self.state_space)
tiling = tiles(self.iht, 64, [position, velocity], [0]) + \
tiles(self.iht, 64, [position], [1]) + \
tiles(self.iht, 64, [velocity], [2])
return {index: 1 for index in tiling}
elif self.mode == "raw":
return dict(enumerate(state))
else:
raise Error("Invalid environment mode. Must be tile or raw")
def __init__(self, size, num_tiles, num_tilings):
self.iht = IHT(size)
self.num_tiles = num_tiles
self.num_tilings = num_tilings