def __init__(self):
self.logfile = TimedFileLogger('/tmp/log.crtrlog')
self.environment = CreateRobot()
self.environment.fullMode()
self.latencyTimer = Chrono()
self.clock = Clock("CreateNexting")
self.rewards = self.createRewardFunction()
self.actions = [CreateAction(-200, +200)]
self.behaviourPolicy = RandomPolicy(Random(0), self.actions)
self.obsHistory = ObsHistory(10, self.environment.legend())
self.representation = TileCodersNoHashing(
self.obsHistory.historyVectorSize(), 0, 4096)
self.representation.includeActiveFeature()
for name in self.sensorsOfInterest:
for timeShift in range(self.HistoryLength):
indexes = self.obsHistory.selectIndexes(timeShift, name)
self.representation.addTileCoder(indexes, 64, 8)
self.demons = DemonScheduler()
self.verifiers = []
for rewardFunction in self.rewards:
for gamma in [0, 0.5, 0.75, 7 / 8., 15 / 16.]:
demon = self.createOnPolicyPredictionDemon(
rewardFunction, gamma)
verifier = PredictionDemonVerifier(demon)
self.verifiers.append(verifier)
self.demons.add(demon)
self.demonToData[demon] = (verifier,
rewardFunction.label() + str(gamma))
self.x_t = None
from rlpark.plugin.irobot.data import CreateAction
from rlpark.plugin.irobot.data import IRobotDrops
from rlpark.plugin.irobot.robots import CreateRobot
from zephyr.plugin.core.api.synchronization import Clock
import zepy
if __name__ == '__main__':
robot = CreateRobot("/dev/cu.ElementSerial-ElementSe")
clock = Clock()
zepy.advertise(robot, clock)
bumpRightObsIndex = robot.legend().indexOf(IRobotDrops.BumpRight)
bumpLeftObsIndex = robot.legend().indexOf(IRobotDrops.BumpLeft)
robot.safeMode()
while clock.tick():
obs = robot.waitNewObs()
wheelLeft = 150 if obs[bumpRightObsIndex] == 0 else -150
wheelRight = 150 if obs[bumpLeftObsIndex] == 0 else -70
robot.sendAction(CreateAction(wheelLeft, wheelRight))
