def vIteration(world, userMap, maxX, maxY, discount=0.99, MAX_ITERATIONS=100):
gen = BasicGridWorld(userMap, maxX, maxY)
domain = gen.generateDomain()
initialState = gen.getExampleState(domain);
rf = BasicRewardFunction(maxX, maxY, userMap)
tf = BasicTerminalFunction(maxX, maxY)
env = SimulatedEnvironment(domain, rf, tf, initialState)
visualizeInitialGridWorld(domain, gen, env)
hashingFactory = SimpleHashableStateFactory()
timing = defaultdict(list)
rewards = defaultdict(list)
steps = defaultdict(list)
convergence = defaultdict(list)
allStates = getAllStates(domain, rf, tf, initialState)
print("*** {} Value Iteration Analysis".format(world))
MAX_ITERATIONS = MAX_ITERATIONS
iterations = range(1, MAX_ITERATIONS + 1)
vi = ValueIteration(domain, rf, tf, discount, hashingFactory, -1, 1);
vi.setDebugCode(0)
vi.performReachabilityFrom(initialState)
vi.toggleUseCachedTransitionDynamics(False)
timing['Value'].append(0)
for nIter in iterations:
startTime = clock()
vi.runVI()
p = vi.planFromState(initialState);
endTime = clock()
timing['Value'].append((endTime-startTime)*1000)
convergence['Value'].append(vi.latestDelta)
# evaluate the policy with evalTrials roll outs
runEvals(initialState, p, rewards['Value'], steps['Value'], rf, tf, evalTrials=1)
if nIter == 1 or nIter == 50:
simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory, "Value Iteration {}".format(nIter))
simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory, "Value Iteration {}".format(nIter))
dumpPolicyMap(MapPrinter.printPolicyMap(allStates, p, gen.getMap()),
world + ' Value Iteration Policy Map.pkl')
dumpCSV(nIter, timing['Value'][1:], rewards['Value'], steps['Value'], convergence['Value'], world, 'Value')
# Print the map that is being analyzed
print "/////{} Grid World Analysis/////\n".format(world)
MapPrinter().printMap(MapPrinter.matrixToMap(userMap))
visualizeInitialGridWorld(domain, gen, env)
hashingFactory = SimpleHashableStateFactory()
increment = MAX_ITERATIONS / NUM_INTERVALS
timing = defaultdict(list)
rewards = defaultdict(list)
steps = defaultdict(list)
convergence = defaultdict(list)
allStates = getAllStates(domain, rf, tf, initialState)
# Value Iteration
iterations = range(1, MAX_ITERATIONS + 1)
vi = ValueIteration(domain, rf, tf, discount, hashingFactory, -1, 1)
vi.setDebugCode(0)
vi.performReachabilityFrom(initialState)
vi.toggleUseCachedTransitionDynamics(False)
print "//{} Value Iteration Analysis//".format(world)
flag = True
timing['Value'].append(0)
for nIter in iterations:
startTime = clock()
vi.runVI()
#timing['Value'].append((clock()-startTime) * 1000)
timing['Value'].append(timing['Value'][-1] + clock() - startTime)
p = vi.planFromState(initialState)
convergence['Value'].append(vi.latestDelta)
# evaluate the policy with evalTrials roll outs
runEvals(initialState, p, rewards['Value'], steps['Value'])
#if nIter == 1:
#policy_converged = defaultdict(list)
#last_policy = defaultdict(list)
iterations = range(1, MAX_ITERATIONS + 1)
##################### Value Iteration ########################################################
if VI:
for disc in discount:
timing = defaultdict(list)
rewards = defaultdict(list)
steps = defaultdict(list)
convergence = defaultdict(list)
vi = ValueIteration(domain, rf, tf, disc, hashingFactory, -1, 1)
vi.setDebugCode(-1)
vi.performReachabilityFrom(initialState)
vi.toggleUseCachedTransitionDynamics(False)
print "// {} GW Value Iteration Analysis //".format(world)
timing['Value'].append(0)
for nIter in iterations:
startTime = clock()
vi.runVI()
timing['Value'].append(timing['Value'][-1] + clock() -
startTime)
p = vi.planFromState(initialState)
convergence['Value'].append(vi.latestDelta)
# evaluate the policy with evalTrials roll outs
runEvals(initialState, p, rewards['Value'], steps['Value'])
rewards = defaultdict(list)
steps = defaultdict(list)
convergence = defaultdict(list)
policy_converged = defaultdict(list)
last_policy = defaultdict(list)
# # Value Iteration
iterations = range(1, MAX_ITERATIONS + 1)
if (value_iteration):
print "//Easy Value Iteration Analysis//"
for nIter in iterations:
startTime = clock()
vi = ValueIteration(domain, rf, tf, discount, hashingFactory, 0,
nIter)
#//Added a very high delta number in order to guarantee that value iteration occurs the max number of iterations for comparison with the other algorithms.
# run planning from our initial state
vi.setDebugCode(1)
p = vi.planFromState(initialState)
timing['Value'].append((clock() - startTime) * 1000)
convergence['Value'].append(vi.latestDelta)
# evaluate the policy with evalTrials roll outs
runEvals(initialState, p, rewards['Value'], steps['Value'])
# if nIter == 1:
# simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory, "Value Iteration {}".format(nIter))
MapPrinter.printPolicyMap(vi.getAllStates(), p, gen.getMap())
if (nIter == 1 or nIter == 2 or nIter == 5 or nIter == 10
or nIter == 15 or vi.latestDelta < 0.000001):
simpleValueFunctionVis(vi, p, initialState, domain,
hashingFactory,
"Value Iteration {}".format(nIter))
