def evolve_policy(self):
""" Learn a model from flightdata and evolve specialized policies. """
params = model.estimate_params(self.log.name)
noise_std = model.estimate_std(self.log.name, params)
heli = ghh.Helicopter(params, noise_std, 0.1)
genome = Genome.open(PREFIX + 'baseline.net')
self.org = functions.evolve(heli, genome, epochs=500)
def evolve_policy(self, n=1):
""" Learn a model from flightdata and evolve specialized policies. """
params = model.estimate_params(self.log.name)
noise_std = model.estimate_std(self.log.name, params)
heli = ghh.Helicopter(params, noise_std, 0.1)
genome = Genome.open(PREFIX + 'baseline.net')
for i in range(n):
champion = functions.evolve(heli, genome, epochs=500)
champion.evals = list()
self.pool.append(champion)
def evolve_policy(self, n=1):
""" Learn a model from flightdata and evolve specialized policies. """
params = model.estimate_params(self.log.name)
noise_std = model.estimate_std(self.log.name, params)
heli = ghh.Helicopter(params, noise_std, 0.1)
genome = Genome.open(PREFIX + 'baseline.net')
for i in range(n):
champion = functions.evolve(heli, genome, epochs=500)
champion.evals = list()
self.pool.append(champion)
# rk4.py 4th order Runge Kutta
from pylab import *
from functions import evolve, H
pltparams = {'text.usetex': True}
rcParams.update(pltparams)
a = 0. # evolve from time a to time b in n steps
b = 100.
n = 10000
times, h = linspace(a, b, n, retstep=True)
# find the position and velocities as functions of time and the times when v=0 for initial position equal to 1
x1_t, v1_t, t1_0 = evolve([1, 0], times, h)
# find the position and velocities as functions of time and the times when v=0 for initial position equal to 2
x2_t, v2_t, t2_0 = evolve([2, 0], times, h)
#plot the position and energy of the harmonic oscillator
figure("position and energy")
subplot(211)
ylabel("$x(t)$")
plot(times, x1_t)
plot(times, cos(times), "--")
subplot(212)
ylabel("$E(t)$")
xlabel("Times (a.u.)")
plot(times, H(x1_t, v1_t))
plot(times, 1 / 2 * ones_like(times))
pltparams = {
'text.usetex': True
}
rcParams.update(pltparams)
a = 0. # evolve from time a to time b in n steps
b = 100.
n = 10000
times, h = linspace(a, b, n, retstep=True)
y_0 = [1,0] #initialize position and velocity
x_t = [y_0[0], ]
v_t = [y_0[1], ]
# find the position and velocities as functions of time and the times when v=0
x1_t, v1_t, t1_0 = evolve(y_0, times, h)
#plot position and energy of the harmonic oscillator
figure("position and energy")
subplot(211)
ylabel("$x(t)$")
plot(times, x_t)
plot(times, cos(times), "--")
subplot(212)
ylabel("$E(t)$")
xlabel("Times (a.u.)")
plot(times, H(x_t, v_t))
plot(times, 1/2*ones_like(times))
show()
