"Value Iteration {}".format(nIter))
if vi.latestDelta < 1e-6 and flag:
simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory,
"Value Iteration {}".format(nIter))
flag = False
# dumpPolicyMap(MapPrinter.printPolicyMap(allStates, p, gen.getMap()),
# 'Value {} Iter {} Policy Map.pkl'.format(world, nIter))
# if vi.latestDelta < 1e-6:
# break
print "\n\n\n"
simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory,
"Value Iteration {}".format(nIter))
dumpCSV(nIter, timing['Value'][1:], rewards['Value'], steps['Value'],
convergence['Value'], world, 'Value')
pi = PolicyIteration(domain, rf, tf, discount, hashingFactory, 1e-3, 10, 1)
pi.toggleUseCachedTransitionDynamics(False)
print "//{} Policy Iteration Analysis//".format(world)
timing['Policy'].append(0)
flag = True
for nIter in iterations:
startTime = clock()
p = pi.planFromState(initialState)
#timing['Policy'].append((clock() - startTime) * 1000)
timing['Policy'].append(timing['Policy'][-1] + clock() - startTime)
policy = pi.getComputedPolicy()
current_policy = {
state: policy.getAction(state).toString()
for state in allStates
}
convergence['Policy2'].append(pi.lastPIDelta)
# 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))
if nIter == MAX_ITERATIONS / 2:
simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory, "Value Iteration {}".format(nIter))
MapPrinter.printPolicyMap(vi.getAllStates(), p, gen.getMap());
print "\n\n\n"
simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory, "Value Iteration {}".format(nIter))
# dumpCSV(iterations, timing['Value'], rewards['Value'], steps['Value'], convergence['Value'], world, 'Value')
# Policy Iteration starts
print "//Easy Policy Iteration Analysis//"
for nIter in iterations:
startTime = clock()
pi = PolicyIteration(domain,rf,tf,discount,hashingFactory,-1,1, 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
pi.setDebugCode(0)
p = pi.planFromState(initialState);
timing['Policy'].append((clock()-startTime)*1000)
convergence['Policy'].append(pi.lastPIDelta)
# evaluate the policy
runEvals(initialState,p,rewards['Policy'],steps['Policy'])
if (nIter == 1):
simpleValueFunctionVis(pi, p, initialState, domain, hashingFactory, "Policy Iteration{}".format(nIter))
if (nIter == MAX_ITERATIONS/2):
simpleValueFunctionVis(pi, p, initialState, domain, hashingFactory, "Policy Iteration{}".format(nIter))
policy = pi.getComputedPolicy()
allStates = pi.getAllStates()
current_policy = [[(action.ga, action.pSelection) for action in policy.getActionDistributionForState(state)] for state in allStates]
policy_converged['Policy'].append(current_policy == last_policy)
MapPrinter.printPolicyMap(vi.getAllStates(), p, gen.getMap())
print "\n\n\n"
simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory,
Vname)
#input('x')
dumpCSV(iterations, timing[Vname], rewards[Vname], steps[Vname],
convergence[Vname], world, Vname)
discount = 0.99
print "//Easy Policy Iteration Analysis//"
for discount in [0.99, 0.90, 0.7, 0.4]:
Pname = 'Policy gmma{:0.2f}'.format(discount)
for nIter in iterations:
startTime = clock()
pi = PolicyIteration(domain, rf, tf, discount, hashingFactory, -1,
1, 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
pi.setDebugCode(0)
p = pi.planFromState(initialState)
timing[Pname].append((clock() - startTime) * 1000)
convergence[Pname].append(pi.lastPIDelta)
# evaluate the policy with one roll out visualize the trajectory
runEvals(initialState, p, rewards[Pname], steps[Pname])
#ea = p.evaluateBehavior(initialState, rf, tf);
#rewards['Policy'].append(calcRewardInEpisode(ea));
#steps['Policy'].append(ea.numTimeSteps());
if (nIter == 1):
simpleValueFunctionVis(pi, p, initialState, domain,
hashingFactory,
"Policy Iteration{}".format(nIter))
vi.setDebugCode(0)
p = vi.planFromState(initialState)
timing['Value'].append(clock() - startTime)
iterations['Value'].append(vi.numIterations)
# evaluate the policy with one roll out visualize the trajectory
runEvals(initialState, p, rewards['Value'], steps['Value'])
MapPrinter.printPolicyMap(vi.getAllStates(), p, gen.getMap())
print("\n\n")
# simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory, "Value Iteration")
dumpCSV(iterations['Value'], timing['Value'], rewards['Value'],
steps['Value'], [n], 'Value', n == 2)
print("//Size Policy Iteration Analysis//")
pi = PolicyIteration(domain, rf, tf, discount, hashingFactory, 1e-6,
20, MAX_ITERATIONS)
#//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.
pi.toggleUseCachedTransitionDynamics(False)
# run planning from our initial state
pi.setDebugCode(0)
pi.setPolicyToEvaluate(p)
startTime = clock()
p = pi.planFromState(initialState)
timing['Policy'].append(clock() - startTime)
iterations['Policy'].append(pi.totalPolicyIterations)
# evaluate the policy with one roll out visualize the trajectory
runEvals(initialState, p, rewards['Policy'], steps['Policy'])
MapPrinter.printPolicyMap(pi.getAllStates(), p, gen.getMap())
print("\n\n")
#simpleValueFunctionVis(pi, p, initialState, domain, hashingFactory, "Policy Iteration")
dumpCSV(iterations['Policy'], timing['Policy'], rewards['Policy'],