def ExpandPath(path, state, dynaLearner, rewardLearner):
for actionId in path:
nextState = SimState()
if state.path != []:
prevAction = state.path[len(state.path) - 1]
else:
prevAction = -1 # TODO: make it NoTask
for i, world in enumerate(state.worldList):
fea = getTestFeature(world, actionId)
rewardFea = getRewardFeature(world, prevAction)
# WARNING!! Don't change the order
# reward, = rewardLearner.getClass(fea)
reward = rewardLearner.getQ(rewardFea, actionId)
fea.pop(0)
distList = dynaLearner[actionId].getClass(fea, orange.GetProbabilities) # TODO: add randomness here
ax, ay, dx, dy = [GetSample(dist) for dist in distList]
# ax, ay, dx, dy = [round(value, Precision) for value in sampleValue]
# ll = [log(pair[1]) for pair in sampleValue] #loglikelihood
m = world.mario
sx = ax + m.sx
sy = ay + m.sy
newMario = copy.deepcopy(m)
newMario.x = m.x + m.sx + dx
newMario.y = m.y + m.sy + dy
newMario.sx = sx
newMario.sy = sy
newWorld = copy.copy(world) # with static assumption, everything other than mario stays the same
newWorld.mario = newMario
dir, isJump, isSpeed = getActionType(actionId)
if (not (newWorld.mario.sy >= 0 and isJump)) and not (
sx == 0.0 and sy == 0.0 and dx == 0.0 and dy == 0.0
): # Jump does not increase y-speed, do not need to search anymore
nextState.worldList.append(newWorld)
nextState.rewardList.append(state.rewardList[i] + reward)
# nextState.probList.append(state.probList[i] + sum(ll))
nextState.path = state.path + [actionId]
state = nextState
return state
def TestSimPath(path, state, dynaLearner, rewardLearner):
for actionId in path:
fea = getTestFeature(state, actionId)
m = state.mario
sx, sy, dx, dy = dynaLearner.getClass(fea) # TODO: add randomness here
reward, = rewardLearner.getClass(fea)
state.dump()
print "mario: ", m.x, " ", m.y, " ", reward
newMario = copy.deepcopy(m)
newMario.x = m.x + m.sx + dx
newMario.y = m.y + m.sy + dy
newMario.sx = sx
newMario.sy = sy
newState = copy.copy(state) # with static assumption, everything other than mario stays the same
newState.mario = newMario
state = newState