def replay(self, batch_size, postask=None):
#print("BEGIN: REPLAYING........................................................")
p_size = min(self.psize, batch_size)
n_size = min(self.nsize, batch_size)
nt_size = min(self.ntsize, batch_size)
minibatch = []
if (p_size > 0):
minibatch += sample(self.positive_memory, p_size)
if (n_size > 0):
minibatch += sample(self.negative_memory, n_size)
if (nt_size > 0):
minibatch += sample(self.neutral_memory, nt_size)
random.shuffle(minibatch)
batch_size = len(minibatch)
states = np.zeros((batch_size, self.state_size[0], self.state_size[1],
self.skip_frames))
next_states = np.zeros((batch_size, self.state_size[0],
self.state_size[1], self.skip_frames))
actions = []
rewards = []
dones = []
targets = np.zeros((batch_size, ))
idx = 0
for idx, val in enumerate(minibatch):
states[idx] = val[0]
next_states[idx] = val[3]
actions.append(val[1])
rewards.append(val[2])
dones.append(val[4])
actions_mask = np.ones((batch_size, self.action_size))
next_Q_values = self.back_model.predict([next_states, actions_mask])
for i in range(batch_size):
if dones[i]:
targets[i] = -1
#targets[i] = rewards[i]
else:
targets[i] = rewards[i] + self.gamma * np.amax(
next_Q_values[i])
action_one_hot = get_one_hot(actions, self.action_size)
target_one_hot = action_one_hot * targets[:, None]
h = self.back_model.fit([states, action_one_hot],
target_one_hot,
epochs=1,
batch_size=batch_size,
verbose=0)
self.replay_is_running = False
#print("END: REPLAYING........................................................")
self.last_loss = h.history['loss'][0]
#print("CURRENT LOSS: %f" % (self.last_loss))
if postask:
postask(self, self.last_loss)
return self.last_loss
def return_server(self):
actions = []
for step in self.queue:
for action in step:
actions.append(action.name)
return actions
def estimate_empowerment(self):
"""
Estimate the empowerment of the current state.
Returns:
empowerment (int)
"""
states = []
for i in range(self.num_sequences):
actions = []
for action in self.random_action_sequence():
actions.append(action)
action.apply()
state = self.sense()
self.add_new_reading(state, states)
actions.reverse()
for action in actions:
action.rollback()
if self.sensing_threshold is None:
average_embedded = 0 # does not matter
else:
if type(states[0]) == int:
average_embedded = np.mean(states)
else:
average_embedded = np.mean([a.size for a in states])
return np.log(len(states)), average_embedded
def available_actions(self):
""" Iterate over all loaded modules, and retrieve actions (ie functions
with the @action decorator).
"""
actions = []
path = sys.modules["robots.actions"].__path__
for loader, module_name, is_pkg in pkgutil.walk_packages(path):
m = sys.modules["robots.actions." + module_name]
for member in [getattr(m, fn) for fn in dir(m)]:
if hasattr(member, "_action"):
actions.append(RobotAction(member, m))
return actions
def emit_default(self):
''' emit the action taken when we did not hit a valid hash table entry
'''
actions = []
for action in self.default_actions:
if action.is_return():
s = "return %s" % action.get_str_value()
actions.append(s)
if action.is_field_binding():
val = action.get_str_value()
fb = action.field_name.lower()
s = "%s_set_%s(%s,%s)" % (self.strings_dict['op_accessor'], fb,
self.strings_dict['obj_str'], val)
actions.append(s)
return actions
def main():
#print ''
log.setDebug(util.argv(_cmds['Debug']))
actions.supress(util.argv(_cmds['Supress']))
args = sys.argv
if len(args) == 1:
log.comment(
"No arguments specified, listing your Gists. Try '%s help' if you need help."
% util.fileName)
print('')
del args[0] # Delete the filename
cmd = None
log.debug("Arguments " + str(args))
#--------------------------------------------
# If args[0] is a command. We remove it from the list. args now contains only the command arguments
# else we keep as is and try to evaluate the command
#--------------------------------------------
if _hasCmd(args):
cmd = args[0]
del args[
0] # Delete the command. Arguments remaining are the options for each command
else:
cmd = _deriveCmd(args)
log.debug("Adjusted cmd: " + str(cmd))
log.debug("Adjusted arguments " + str(args))
#--------------------------------------------
# Handle commands
#--------------------------------------------
if cmd == None:
_printNoMatch()
elif cmd in (_cmds['Help']):
actions.help()
elif cmd in (_cmds['List']):
actions.list()
elif cmd in (_cmds['Token']):
actions.updateCredentials()
elif cmd in (_cmds['Open']):
if len(args) == 1:
actions.open(args[0])
else:
_printNoMatch()
elif cmd in (_cmds['View']):
if len(args) == 1:
actions.view(args[0])
elif len(args) == 2:
actions.view(args[0], fileName=args[1])
elif cmd in (_cmds['Download']):
if len(args) == 2:
actions.get(args[0], path=args[1])
elif len(args) == 3:
actions.get(args[0], fileName=args[1], path=args[2])
elif cmd in (_cmds['New']):
# Each option will prompt for public/pvt and description. In silent mode, assumes private and no description.
if len(args) == 0:
actions.new()
elif len(args) == 1:
# create File
# create Content
if util.isFileOrDir(args[0]) == True:
actions.new(filename=args[0])
else:
actions.new(content=args[0])
elif len(args) == 2:
# create Boolean and File
# create Boolean and Content
# create Description and File
# create Description and Content
if util.parseBool(args[0]) != None:
if util.isFileOrDir(args[1]) == True:
actions.new(public=util.parseBool(args[0]),
filename=args[1])
else:
actions.new(public=util.parseBool(args[0]),
content=args[1])
else:
if util.isFileOrDir(args[1]) == True:
actions.new(description=args[0], filename=args[1])
else:
actions.new(description=args[0], content=args[1])
elif len(args) == 3 and util.parseBool(args[0]) != None:
# create Boolean, Description and File
# create Boolean, Description and Content
if util.isFileOrDir(args[2]) == True:
actions.new(public=util.parseBool(args[0]),
description=args[1],
filename=args[2])
else:
actions.new(public=util.parseBool(args[0]),
description=args[1],
content=args[2])
else:
_printNoMatch()
elif cmd in (_cmds['Append']):
# Each option will prompt for public/pvt and description.
if len(args) == 0:
_printNoMatch()
elif len(args) == 2:
# append: id File
# append: id Content
if util.isFileOrDir(args[1]) == True:
actions.append(args[0], filename=args[1])
else:
actions.append(args[0], content=args[1])
elif len(args) == 3:
# append: id Description File
# append: id Description Content
if util.isFileOrDir(args[2]) == True:
actions.append(args[0], description=args[1], filename=args[2])
else:
actions.append(args[0], description=args[1], content=args[2])
else:
actions.append(args[0])
elif cmd in (_cmds['Update']):
# Each option will prompt for public/pvt and description.
if len(args) == 0:
_printNoMatch()
elif len(args) == 2:
# append: id File
# append: id Content
if util.isFileOrDir(args[1]) == True:
actions.update(args[0], filename=args[1])
else:
actions.update(args[0], content=args[1])
elif len(args) == 3:
# append: id Description File
# append: id Description Content
if util.isFileOrDir(args[2]) == True:
actions.update(args[0], description=args[1], filename=args[2])
else:
actions.update(args[0], description=args[1], content=args[2])
else:
actions.update(args[0])
elif cmd in (_cmds['Delete']):
actions.delete(args[0])
elif cmd in (_cmds['Backup']):
_printNoImpl()
actions.backup()
elif cmd in (_cmds['Search']):
_printNoImpl()
actions.search()
else:
_printNoMatch()
log.debug("Done.")
print('')
def main ( ):
#print ''
log.setDebug( util.argv( _cmds['Debug'] ) )
actions.supress( util.argv( _cmds['Supress']) )
args = sys.argv
if len(args) == 1:
log.comment ("No arguments specified, listing your Gists. Try '%s help' if you need help." % util.fileName)
print ''
del args[0] # Delete the filename
cmd = None
log.debug ("Arguments " + str( args ))
#--------------------------------------------
# If args[0] is a command. We remove it from the list. args now contains only the command arguments
# else we keep as is and try to evaluate the command
#--------------------------------------------
if _hasCmd( args ):
cmd = args[0]
del args[0] # Delete the command. Arguments remaining are the options for each command
else:
cmd = _deriveCmd( args )
log.debug ("Adjusted cmd: " + str(cmd))
log.debug ("Adjusted arguments " + str( args ))
#--------------------------------------------
# Handle commands
#--------------------------------------------
if cmd == None:
_printNoMatch()
elif cmd in (_cmds['Help']):
actions.help()
elif cmd in (_cmds['List']):
actions.list()
elif cmd in (_cmds['Token']):
actions.updateCredentials()
elif cmd in (_cmds['View']):
if len(args) == 1:
actions.view( args[0] )
elif len(args) == 2:
actions.view( args[0], fileName=args[1])
elif cmd in (_cmds['Download']):
if len(args) == 2:
actions.get( args[0], path=args[1] )
elif len(args) == 3:
actions.get( args[0], fileName=args[1], path=args[2] )
elif cmd in (_cmds['New']):
# Each option will prompt for public/pvt and description. In silent mode, assumes private and no description.
if len(args) == 0:
actions.new()
elif len(args) == 1:
# create File
# create Content
if util.isFileOrDir(args[0]) == True:
actions.new( filename = args[0] )
else:
actions.new( content = args[0] )
elif len(args) == 2:
# create Boolean and File
# create Boolean and Content
# create Description and File
# create Description and Content
if util.parseBool( args[0] ) != None:
if util.isFileOrDir(args[1]) == True:
actions.new( public=util.parseBool( args[0] ), filename=args[1] )
else:
actions.new( public=util.parseBool( args[0] ), content=args[1] )
else:
if util.isFileOrDir(args[1]) == True:
actions.new( description=args[0], filename=args[1] )
else:
actions.new( description=args[0], content=args[1] )
elif len(args) == 3 and util.parseBool( args[0] ) != None:
# create Boolean, Description and File
# create Boolean, Description and Content
if util.isFileOrDir(args[2]) == True:
actions.new( public=util.parseBool( args[0] ), description=args[1], filename=args[2] )
else:
actions.new( public=util.parseBool( args[0] ), description=args[1], content=args[2] )
else:
_printNoMatch()
elif cmd in (_cmds['Append']):
# Each option will prompt for public/pvt and description.
if len(args) == 0:
_printNoMatch()
elif len(args) == 2:
# append: id File
# append: id Content
if util.isFileOrDir(args[1]) == True:
actions.append( args[0], filename=args[1] )
else:
actions.append( args[0], content=args[1] )
elif len(args) == 3:
# append: id Description File
# append: id Description Content
if util.isFileOrDir(args[2]) == True:
actions.append( args[0], description=args[1], filename=args[2] )
else:
actions.append( args[0], description=args[1], content=args[2] )
else:
actions.append( args[0] )
elif cmd in (_cmds['Update']):
# Each option will prompt for public/pvt and description.
if len(args) == 0:
_printNoMatch()
elif len(args) == 2:
# append: id File
# append: id Content
if util.isFileOrDir(args[1]) == True:
actions.update( args[0], filename=args[1] )
else:
actions.update( args[0], content=args[1] )
elif len(args) == 3:
# append: id Description File
# append: id Description Content
if util.isFileOrDir(args[2]) == True:
actions.update( args[0], description=args[1], filename=args[2] )
else:
actions.update( args[0], description=args[1], content=args[2] )
else:
actions.update( args[0] )
elif cmd in (_cmds['Delete']):
actions.delete( args[0] )
elif cmd in (_cmds['Backup']):
_printNoImpl()
actions.backup( )
elif cmd in (_cmds['Search']):
_printNoImpl()
actions.search( )
else:
_printNoMatch()
log.debug ("Done.")
print ''