def __init__(self):
self.environment = CritterbotSimulator()
self.latencyTimer = Chrono()
self.rewards = self.createRewardFunction()
self.actions = XYThetaAction.sevenActions()
self.behaviourPolicy = RandomPolicy(Random(0), self.actions)
self.representation = TileCodersNoHashing(self.environment.legend().nbLabels(), -2000, 2000)
self.representation.includeActiveFeature()
self.demons = DemonScheduler()
for rewardFunction in self.rewards:
self.demons.add(self.createOffPolicyControlDemon(rewardFunction))
self.x_t = None
class DemonExperiment(object):
Latency = 100 #s
def __init__(self):
self.environment = CritterbotSimulator()
self.latencyTimer = Chrono()
self.rewards = self.createRewardFunction()
self.actions = XYThetaAction.sevenActions()
self.behaviourPolicy = RandomPolicy(Random(0), self.actions)
self.representation = TileCodersNoHashing(self.environment.legend().nbLabels(), -2000, 2000)
self.representation.includeActiveFeature()
self.demons = DemonScheduler()
for rewardFunction in self.rewards:
self.demons.add(self.createOffPolicyControlDemon(rewardFunction))
self.x_t = None
def createRewardFunction(self):
legend = self.environment.legend()
return [ SensorRewardFunction(legend, 'MotorCurrent0'),
SensorRewardFunction(legend, 'MotorCurrent1'),
SensorRewardFunction(legend, 'MotorCurrent2') ]
def createOffPolicyControlDemon(self, rewardFunction):
toStateAction = TabularAction(self.actions, self.representation.vectorSize())
nbFeatures = toStateAction.actionStateFeatureSize()
lambda_ = 0.1
beta = .1
alpha_v = .1 / self.representation.nbActive()
alpha_w = .1 / self.representation.nbActive()
gq = GQ(alpha_v, alpha_w, beta , lambda_, nbFeatures)
targetPolicy = Greedy(gq, self.actions, toStateAction)
controlGQ = ExpectedGQ(gq, self.actions, toStateAction, targetPolicy, self.behaviourPolicy)
return ControlOffPolicyDemon(rewardFunction, controlGQ)
def learn(self, a_t, o_tp1):
for rewardFunction in self.rewards:
rewardFunction.update(o_tp1)
x_tp1 = self.representation.project(o_tp1)
self.demons.update(self.x_t, a_t, x_tp1)
self.x_t = x_tp1
def run(self):
a_t = None
while not self.environment.isClosed():
self.latencyTimer.start()
o_tp1 = self.environment.waitNewObs()
self.learn(a_t, o_tp1)
a_tp1 = self.behaviourPolicy.decide(None)
self.environment.sendAction(a_tp1)
a_t = a_tp1
waitingTime = self.Latency - self.latencyTimer.getCurrentMillis()
if waitingTime > 0:
time.sleep(waitingTime / 1000.0)
def zephyrize(self):
clock = self.environment.clock()
zepy.advertise(self.environment, clock)
zepy.advertise(self.demons, clock)
for rewardFunction in self.rewards:
zepy.monattr(rewardFunction, 'rewardValue', clock = clock, label = rewardFunction.label)
class DemonExperiment(object):
Latency = 100 #s
def __init__(self):
self.environment = CritterbotSimulator()
self.latencyTimer = Chrono()
self.rewards = self.createRewardFunction()
self.actions = XYThetaAction.sevenActions()
self.behaviourPolicy = RandomPolicy(Random(0), self.actions)
self.representation = TileCodersNoHashing(self.environment.legend().nbLabels(), -2000, 2000)
self.representation.includeActiveFeature()
self.demons = DemonScheduler()
for rewardFunction in self.rewards:
targetPolicy = SingleActionPolicy(XYThetaAction.Left)
demon = self.createOffPolicyPredictionDemon(rewardFunction, targetPolicy)
self.demons.add(demon)
self.x_t = None
def createRewardFunction(self):
legend = self.environment.legend()
return [ SensorRewardFunction(legend, 'MotorCurrent0'),
SensorRewardFunction(legend, 'MotorCurrent1'),
SensorRewardFunction(legend, 'MotorCurrent2') ]
def createOffPolicyPredictionDemon(self, rewardFunction, targetPolicy):
gamma = .9
alpha_v = .1 / self.representation.nbActive()
alpha_w = .1 / self.representation.nbActive()
nbFeatures = self.representation.vectorSize()
gtd = GTD(gamma, alpha_v, alpha_w, nbFeatures)
return PredictionOffPolicyDemon(rewardFunction, gtd, targetPolicy, self.behaviourPolicy)
def learn(self, a_t, o_tp1):
for rewardFunction in self.rewards:
rewardFunction.update(o_tp1)
x_tp1 = self.representation.project(o_tp1)
self.demons.update(self.x_t, a_t, x_tp1)
self.x_t = x_tp1
def run(self):
a_t = None
while not self.environment.isClosed():
self.latencyTimer.start()
o_tp1 = self.environment.waitNewObs()
self.learn(a_t, o_tp1)
a_tp1 = self.behaviourPolicy.decide(None)
self.environment.sendAction(a_tp1)
a_t = a_tp1
waitingTime = self.Latency - self.latencyTimer.getCurrentMillis()
if waitingTime > 0:
time.sleep(waitingTime / 1000.0)
def zephyrize(self):
clock = self.environment.clock()
zepy.advertise(self.environment, clock)
zepy.advertise(self.demons, clock)
for rewardFunction in self.rewards:
zepy.monattr(rewardFunction, 'rewardValue', clock = clock, label = rewardFunction.label)
class DemonExperiment(object):
Latency = 100 #s
def __init__(self):
self.environment = CritterbotSimulator()
self.latencyTimer = Chrono()
self.rewards = self.createRewardFunction()
self.actions = XYThetaAction.sevenActions()
self.behaviourPolicy = RandomPolicy(Random(0), self.actions)
self.representation = TileCodersNoHashing(self.environment.legend().nbLabels(), -2000, 2000)
self.representation.includeActiveFeature()
self.demons = DemonScheduler()
for rewardFunction in self.rewards:
demon = self.createOnPolicyPredictionDemon(rewardFunction)
self.demons.add(demon)
self.x_t = None
def createRewardFunction(self):
legend = self.environment.legend()
return list(SensorRewardFunction(legend, label) for label in legend.getLabels())
def createOnPolicyPredictionDemon(self, rewardFunction):
gamma = .9
alpha = .1 / self.representation.nbActive()
nbFeatures = self.representation.vectorSize()
lambda_= .3
td = TDLambda(lambda_, gamma, alpha, nbFeatures)
return PredictionDemon(rewardFunction, td)
def learn(self, a_t, o_tp1):
for rewardFunction in self.rewards:
rewardFunction.update(o_tp1)
x_tp1 = self.representation.project(o_tp1)
self.demons.update(self.x_t, a_t, x_tp1)
self.x_t = x_tp1
def run(self):
a_t = None
while not self.environment.isClosed():
self.latencyTimer.start()
o_tp1 = self.environment.waitNewObs()
self.learn(a_t, o_tp1)
a_tp1 = self.behaviourPolicy.decide(None)
self.environment.sendAction(a_tp1)
a_t = a_tp1
waitingTime = self.Latency - self.latencyTimer.getCurrentMillis()
if waitingTime > 0:
time.sleep(waitingTime / 1000.0)
def zephyrize(self):
clock = self.environment.clock()
zepy.advertise(self.environment, clock)
zepy.advertise(self.demons, clock)
for rewardFunction in self.rewards:
zepy.monattr(rewardFunction, 'rewardValue', clock = clock, label = rewardFunction.label)
