print("-" * 100)
# Evaluation
tot_steps = 0
all_returns = []
all_steps = []
notrl_tot_steps = 0
notrl_returns = []
notrl_steps = []
# create grid-world instance
canyon = True
grid = GridWorld(4, canyon)
grid.make_maps()
possible_actions = grid.possible_actions
world = grid.world
grid.list_of_maps.reverse()
# Direct learning on final grid
print("Direct learning on final grid")
sarsa = SARSA(grid.final_grid, possible_actions, world)
Q, returns, episodes, steps = do_task(sarsa, grid,
len(grid.list_of_maps) - 1)
notrl_returns.append(returns)
notrl_steps.append(steps)
notrl_tot_steps += steps[-1]
print("-" * 80)
def main(iteration):
world = 4
# saving directories
window = 5 # moving mean window
main_dir = 'qlearn_plots'
sub_dir = ['4by4can', '4by4nocan', '9by9']
sub_sub_dir = ['steps', 'episodes']
for sub_d in sub_dir:
for ss_d in sub_sub_dir:
dir_name = '/'.join([main_dir, sub_d, 'win' + str(window), ss_d])
if not os.path.exists(dir_name):
os.makedirs(dir_name)
# print("-" * 100)
# Evaluation
tot_steps = 0
all_returns = []
all_steps = []
all_episodes = []
notrl_tot_steps = 0
notrl_returns = []
notrl_steps = []
notrl_episodes = []
# create grid-world instance
if world == 4:
canyon = False
grid = GridWorld(world, canyon)
if canyon:
canyon_str = "(CANYON)"
else:
canyon_str = "(NO CANYON)"
elif world == 9:
canyon_str = ''
grid = GridWorld(9)
grid.make_maps()
possible_actions = grid.possible_actions
grid.list_of_maps.reverse()
# Direct learning on final grid
# print("Direct learning on final grid")
qlearn = QLearn(grid.final_grid, possible_actions, world)
Q, returns, episodes, steps = do_task(qlearn, grid,
len(grid.list_of_maps) - 1)
notrl_returns.append(returns)
notrl_steps.append(steps)
notrl_episodes.append(episodes)
notrl_tot_steps += steps[-1]
# print("-" * 80)
# Incremental transfer learning
# print("Incremental transfer learning", canyon_str)
Q = None
for task, current_map in enumerate(grid.list_of_maps, 0):
# print("-" * 50)
# creates qlearn instance
exploit = False if task == 0 else False
qlearn = QLearn(current_map, possible_actions, world, Q)
Q, returns, episodes, steps = do_task(qlearn, grid, task, exploit)
all_returns.append(returns)
tot_counter = 0
epi_counter = 0
if task != 0:
tot_counter += all_steps[task - 1][-1]
epi_counter += all_episodes[task - 1][-1]
all_steps.append([i + tot_counter for i in steps])
all_episodes.append([i + epi_counter for i in episodes])
else:
all_steps.append([i for i in steps])
all_episodes.append([i for i in episodes])
# print("-" * 100)
# print("Incremental Transfer Cumulative total of steps",
# all_steps[-1][-1] - all_steps[0][-1])
# print("Direct Cumulative total of steps", notrl_steps[-1][-1])
flat_episodes = [item for sublist in all_episodes for item in sublist]
flat_returns = [item for sublist in all_returns for item in sublist]
flat_steps = [item for sublist in all_steps for item in sublist]
tmp_array = np.array(flat_returns)
notrl_avg_returns = []
avg_returns = []
for t in range(len(flat_returns)):
avg_returns.append(tmp_array[max(0, t - window):(t + 1)].mean())
notrl_flat_returns = [
item for sublist in notrl_returns for item in sublist
]
tmp_array_1 = np.array(notrl_flat_returns)
for t in range(len(notrl_flat_returns)):
notrl_avg_returns.append(tmp_array_1[max(0, t - window):(t +
1)].mean())
fig = plt.figure()
a0 = fig.add_subplot(1, 1, 1)
val = 0
for j, i in enumerate(all_steps):
if j == len(all_steps) - 1:
a0.axvline(x=i[-1],
linestyle='--',
color='#ccc5c6',
label='Task Switch')
else:
a0.axvline(x=i[-1], linestyle='--', color='#ccc5c6')
a0.plot(flat_steps,
avg_returns,
label="Task Interpolation",
color='#d73236',
linewidth=1,
linestyle='-')
x_steps = [
i + all_steps[0][-1] - notrl_steps[0][0] for i in notrl_steps[0]
]
a0.plot(x_steps,
notrl_avg_returns,
label="Tabula Rasa",
color='#80bbe5',
linestyle='-',
linewidth=1)
plt.ticklabel_format(style='sci', axis='x', scilimits=(0, 0))
plt.xlabel("Steps")
plt.ylabel("Accumulated Reward")
plt.legend(loc="lower right")
plt.axis([None, None, -20, 1])
if world == 4:
if canyon:
step_save = 'qlearn_plots/4by4can/' + 'win' + str(
window) + '/steps/4by4_canyon_steps'
plt_title = '4x4 Maze Canyon'
else:
step_save = 'qlearn_plots/4by4nocan/' + 'win' + str(
window) + '/steps/4by4_nocanyon_steps'
plt_title = '4x4 Maze Non-Canyon'
elif world == 9:
step_save = 'qlearn_plots/9by9/' + 'win' + str(
window) + '/steps/9by9_steps'
plt_title = '9x9 Maze'
plt.title(plt_title)
plt.savefig(step_save + iteration + '.eps', format='eps', dpi=1000)
# fig.show()
fig1 = plt.figure()
a1 = fig1.add_subplot(1, 1, 1)
val = 0
for j, i in enumerate(all_episodes):
if j == len(all_episodes) - 1:
a1.axvline(x=i[-1],
linestyle='--',
color='#ccc5c6',
label='Task Switch')
else:
a1.axvline(x=i[-1], linestyle='--', color='#ccc5c6')
a1.plot(flat_episodes,
avg_returns,
label="Task Interpolation",
color='#d73236',
linewidth=1,
linestyle='-')
x_episodes = [
i + all_episodes[0][-1] - notrl_episodes[0][0]
for i in notrl_episodes[0]
]
a1.plot(x_episodes,
notrl_avg_returns,
label="Tabula Rasa",
color='#80bbe5',
linestyle='-',
linewidth=1)
plt.ticklabel_format(style='sci', axis='x', scilimits=(0, 0))
plt.xlabel("Episodes")
plt.ylabel("Accumulated Reward")
plt.legend(loc="lower right")
plt.axis([None, None, -20, 1])
plt.title(plt_title)
if world == 4:
if canyon:
epi_save = 'qlearn_plots/4by4can/' + 'win' + str(
window) + '/episodes/4by4_canyon_episodes'
else:
epi_save = 'qlearn_plots/4by4nocan/' + 'win' + str(
window) + '/episodes/4by4_nocanyon_episodes'
elif world == 9:
epi_save = 'qlearn_plots/9by9/' + 'win' + str(
window) + '/episodes/9by9_episodes'
plt.savefig(epi_save + iteration + '.eps', format='eps', dpi=1000)
