def transition_model(self, s, a):
# Current state
(itmp, ttmp, actmp, acst) = s
# Nominal next state
al_on = 0.5
al_of = 0.9
if acst:
itmp = al_on * itmp + (1 - al_on) * actmp
else:
itmp = al_of * itmp + (1 - al_of) * etmp
actmp += a
actry = (a != 0)
itmp = r_stvar(bound(itmp, minT, maxT))
actmp = r_stvar(bound(actmp, minT, maxT))
if actry != acst:
mpr = (itmp, ttmp, actmp, acst)
ipr = (itmp, ttmp, actmp, actry)
pr = 0.5
return dist.DDist({mpr: 1 - pr, ipr: pr})
new_s = (itmp, ttmp, actmp, acst)
return dist.delta_dist(new_s)
def __init__(self, field_size, ball_speed=1, random_start=True):
# image space is n by n
self.q = None
self.n = field_size
h = self.n * ball_speed
self.discount_factor = (h - 1.0) / h
self.ball_speed = ball_speed
# state space is: ball position and velocity, paddle position
# and velocity
# - ball position is n by n
# - ball velocity is one of (-1, -1), (-1, 1), (0, -1), (0, 1),
# (1, -1), (1, 1)
# - paddle position is n; this is location of bottom of paddle,
# can stick "up" out of the screen
# - paddle velocity is one of 1, 0, -1
self.states = [((br, bc), (brv, bcv), pp, pv) for \
br in range(self.n) for
bc in range(self.n) for
brv in (-1, 0, 1) for
bcv in (-1, 1) for
pp in range(self.n) for
pv in (-1, 0, 1)]
self.states.append('over')
self.start = dist.uniform_dist([((br, 0), (0, 1), 0, 0) \
for br in range(self.n)]) \
if random_start else \
dist.delta_dist(((int(self.n/2), 0), (0, 1), 0, 0))
def transition_model(self, s, a, p = 0.4):
# Only randomness is in brv and brc after a bounce
# 1- prob of negating nominal velocity
if s == 'over':
return dist.delta_dist('over')
# Current state
((br, bc), (brv, bcv), pp, pv) = s
# Nominal next ball state
new_br = br + self.ball_speed*brv; new_brv = brv
new_bc = bc + self.ball_speed*bcv; new_bcv = bcv
# nominal paddle state, a is action (-1, 0, 1)
new_pp = max(0, min(self.n-1, pp + a))
new_pv = a
new_s = None
hit_r = hit_c = False
# bottom, top contacts
if new_br < 0:
new_br = 0; new_brv = 1; hit_r = True
elif new_br >= self.n:
new_br = self.n - 1; new_brv = -1; hit_r = True
# back, front contacts
if new_bc < 0: # back bounce
new_bc = 0; new_bcv = 1; hit_c = True
elif new_bc >= self.n:
if self.paddle_hit(pp, new_pp, br, bc, new_br, new_bc):
new_bc = self.n-1; new_bcv = -1; hit_c = True
else:
return dist.delta_dist('over')
new_s = ((new_br, new_bc), (new_brv, new_bcv), new_pp, new_pv)
if ((not hit_c) and (not hit_r)):
return dist.delta_dist(new_s)
elif hit_c: # also hit_c and hit_r
if abs(new_brv) > 0:
return dist.DDist({new_s: p,
((new_br, new_bc), (-new_brv, new_bcv), new_pp, new_pv) : 1-p})
else:
return dist.DDist({new_s: p,
((new_br, new_bc), (-1, new_bcv), new_pp, new_pv) : 0.5*(1-p),
((new_br, new_bc), (1, new_bcv), new_pp, new_pv) : 0.5*(1-p)})
elif hit_r:
return dist.DDist({new_s: p,
((new_br, new_bc), (new_brv, -new_bcv), new_pp, new_pv) : 1-p})
def __init__(self, grid_size, stride_factor=1, random_start=True):
self.q = None
self.n = grid_size
self.actions = ['up', 'down', 'left', 'right']
self.discount_factor = 1
self.stride = stride_factor
self.states = [((px,py), (rx,ry)) for px in range(self.n) \
for py in range(self.n)
for rx in range(self.n)
for ry in range(self.n)]
self.states.append('over')
if random_start:
self.start = dist.uniform_dist([((0, 0), (int(self.n / 2), ry))
for ry in range(self.n)])
else:
self.start = dist.delta_dist(
((0, 0), (int(self.n / 2), int(self.n / 2))))
def __init__(self, start=(20*u, 25*u, 30*u, False)):
self.q = None
self.discount_factor = 0.99
# +1 so that range is inclusive
self.states = [
(itmp, ttmp, actmp, acst)
for itmp in range(minT, maxT + 1)
for ttmp in range(minT, maxT + 1)
for actmp in range(minT, maxT + 1)
for acst in (True, False)
]
# self.states.append('over')
self.actions = [
+1,
0,
-1,
np.nextafter(0, 1), # keep AC on (!= 0) but do not move target
]
self.start = dist.delta_dist(start)
def transition_model(self, s, a):
if s == 'over':
return dist.delta_dist('over')
# the state
((px, py), (rx, ry)) = s
# all possible actions
if a == 'up':
new_px = px
if py + 2 > self.n - 1:
new_py = self.n - 1
else:
new_py = py + 2
if a == 'down':
new_px = px
if py - 2 < 0:
new_py = 0
else:
new_py = py - 2
if a == 'left':
new_py = py
if px - 2 < 0:
new_px = 0
else:
new_px = px - 2
if a == 'right':
new_py = py
if px + 2 > self.n - 1:
new_px = self.n - 1
else:
new_px = px + 2
# end all possible actions
# movement of reward (rx, ry)
new_rx_up = rx
if ry + self.stride > self.n - 1:
new_ry_up = self.n - 1
else:
new_ry_up = ry + self.stride
new_rx_down = rx
if ry - self.stride < 0:
new_ry_down = 0
else:
new_ry_down = ry - self.stride
new_ry_left = ry
if rx - self.stride < 0:
new_rx_left = 0
else:
new_rx_left = rx - self.stride
new_ry_right = ry
if rx + self.stride > self.n - 1:
new_rx_right = self.n - 1
else:
new_rx_right = rx + self.stride
new_s_up = ((new_px, new_py), (new_rx_up, new_ry_up))
new_s_down = ((new_px, new_py), (new_rx_down, new_ry_down))
new_s_left = ((new_px, new_py), (new_rx_left, new_ry_left))
new_s_right = ((new_px, new_py), (new_rx_right, new_ry_right))
n_set = set([new_s_up, new_s_down, new_s_left, new_s_right])
ret_list = list(n_set)
if rx == new_px:
return dist.delta_dist('over')
else:
return dist.uniform_dist(ret_list)
