def main():
parser = argparse.ArgumentParser()
parser.add_argument('--weight_discount', default=0.99, type=float) # note: 1.0 only for finite
parser.add_argument('--exploration', default=0.1, type=float) # 0.0 means no random action
parser.add_argument('--basis_function_dim', default=40, type=int)
parser.add_argument('--stop_criterion', default=10**-3, type=float)
parser.add_argument('--sample_max_steps', default="2000", choices=["2000","5000","10000","20000"])
parser.add_argument('--max_steps', default=20, type=int)
parser.add_argument('--reg_opt', default="l2", choices=["l1","l2", "wl1", "none"])
parser.add_argument('--reg_param', default=0.001, type=float)
parser.add_argument('--rbf_sigma', default=0.01, type=float)
# parser.add_argument('--batch_size', default=2000, type=int)
parser.add_argument('--L', default=0.1, type=float) # 0.0 means no random action
args = parser.parse_args()
params = vars(args)
# env
env = LQREnv()
params['n_actions'] = env.action_space.shape[0]
params['state_dim'] = env.observation_space.shape[0]
params['sample_max_steps'] = int(params['sample_max_steps'])
# print(params['state_dim'])
# basis function
n_features = params['basis_function_dim']
gamma = params['weight_discount']
# params['basis_func'] = ExactBasis4LQR()
params['basis_func'] = RBF_LQR([params['state_dim'], params['n_actions']], n_features, params['rbf_sigma'])
params['policy'] = RBFPolicy4LQR(params['basis_func'])
# set the parameters for agent
batch_size = params['sample_max_steps']
max_steps = params['max_steps']
agent = LSPIAgent(params)
sample_filename = LQR_samples_filename[params['sample_max_steps']]
# sample_filename = LQR_samples_filename["-22-10000"]
f = open(sample_filename, 'rb')
replay_buffer = pickle.load(f)
sample = replay_buffer.sample(batch_size)
print("length of sample: {}".format(len(sample[0])))
error_list, new_weights = agent.train(sample)
test_agent4LQR(agent, env, gamma, ifshow=False)
# clean
env.close()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--weight_discount', default=0.99, type=float) # note: 1.0 only for finite
parser.add_argument('--exploration', default=0.1, type=float) # 0.0 means no random action
parser.add_argument('--basis_function_dim', default=30, type=int)
parser.add_argument('--stop_criterion', default=10**-3, type=float)
parser.add_argument('--sample_max_steps', default="2000", choices=["2000","5000","10000","20000"])
parser.add_argument('--max_steps', default=20, type=int)
parser.add_argument('--reg_opt', default="wl1", choices=["l1","l2", "wl1", "none"])
parser.add_argument('--reg_param', default=0.001, type=float) # for l1 and l2
parser.add_argument('--rbf_sigma', default=0.01, type=float) # for RBFs
# parser.add_argument('--batch_size', default=2000, type=int)
parser.add_argument('--L', default=0.1, type=float) # 0.0 means no random action
args = parser.parse_args()
params = vars(args)
# env
env = LQREnv()
params['n_actions'] = env.action_space.shape[0]
params['state_dim'] = env.observation_space.shape[0]
params['sample_max_steps'] = int(params['sample_max_steps'])
# print(params['state_dim'])
# basis function
# real feature = n_feature**(dim of state + dim of action)
n_features = params['basis_function_dim']
gamma = params['weight_discount']
# params['basis_func'] = ExactBasis4LQR()
sample_filename = LQR_samples_filename[params['sample_max_steps']]
# sample_filename = LQR_samples_filename["-22-10000"]
f = open(sample_filename, 'rb')
replay_buffer = pickle.load(f)
batch_size = params['sample_max_steps']
max_steps = params['max_steps']
sample = replay_buffer.sample(batch_size)
print("length of sample: {}".format(len(sample[0])))
L_vec = 1.1*np.concatenate((np.max(np.abs(sample[0]), axis=0).flatten(), [np.max(np.abs(sample[1]))]))
params['basis_func'] = Laplace_LQR(n_features, L_vec)
params['policy'] = RBFPolicy4LQR(params['basis_func'])
agent = BellmanAgent(params, n_iter_max=15)
error_list, new_weights = agent.train(sample)
test_agent4LQR(agent, env, gamma, ifshow=False)
# clean
env.close()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--env_name',
default="LQR",
choices=[
"cliff-v0", "CartPole-v0", "inverted_pedulum",
"LQR", "chain"
]) # gym env to train
parser.add_argument('--weight_discount', default=0.99,
type=float) # note: 1.0 only for finite
parser.add_argument('--exploration', default=0.1,
type=float) # 0.0 means no random action
parser.add_argument('--basis_function_dim', default=50, type=int)
parser.add_argument('--stop_criterion', default=10**-5, type=float)
parser.add_argument('--sample_max_steps',
default="2000",
choices=["2000", "5000", "10000", "20000"])
parser.add_argument('--max_steps', default=500, type=int)
# parser.add_argument('--batch_size', default=2000, type=int)
parser.add_argument('--L', default=0.1,
type=float) # 0.0 means no random action
parser.add_argument('--reg_opt', default="l2", choices=["l1", "l2", "wl1"])
parser.add_argument('--reg_param', default=0.001, type=float)
args = parser.parse_args()
params = vars(args)
env = LQREnv()
params['n_actions'] = env.action_space.shape[0]
params['state_dim'] = env.observation_space.shape[0]
params['sample_max_steps'] = int(params['sample_max_steps'])
# print(params['state_dim'])
n_features = params['basis_function_dim']
gamma = params['weight_discount']
# params['basis_func'] = ExactBasis4LQR()
# basis_function = ExactBasis4LQR()
basis_function = RBF_LQR([params['state_dim'], params['n_actions']],
n_features, 0.001)
params['basis_func'] = basis_function
# esitimate specific L
L = np.matrix(params['L'])
# set the parameters for agent
# use all the samples in buffer
batch_size = params['sample_max_steps']
max_steps = params['max_steps']
sample_filename = LQR_samples_filename[params['sample_max_steps']]
# sample_filename = LQR_samples_filename[-22]
f = open(sample_filename, 'rb')
replay_buffer = pickle.load(f)
samples = replay_buffer.sample(batch_size)
# samples to true Q value
phi_list = []
qTrue_list = []
states = samples[0]
actions = samples[1]
rewards = samples[2]
next_states = samples[3]
dones = samples[4]
phi_list = basis_function.evaluate(states, actions)
for i in range(len(states)):
print("i: {}".format(i))
s = states[i]
# print("state: {}".format(state))
# print("action: {}".format(action))
qTrue = env.true_Qvalue(L, gamma, states[i], actions[i])
# print("qTrue: {}".format(qTrue))
qTrue_list.append(qTrue)
phi_list = np.array(phi_list)
# print("phi_list shape: {}".format(phi_list.shape))
# print("phi_list: {}".format(phi_list[:10]))
qTrue_list = np.array(qTrue_list)
# print("qTrue_list: {}".format(qTrue_list[:10]))
# print("qTrue_list shape: {}".format(qTrue_list.shape))
reg = LinearRegression().fit(phi_list, qTrue_list)
# print("reg.get_params(): {}".format(reg.get_params()))
# for state range
state_low = -10.0
state_high = 10.0
states = np.linspace(state_low, state_high, 100)
actions = []
# true_weights_his = []
true_estimate_error_history = []
q_true_his = []
q_estimate_his = reg.predict(
basis_function.evaluate(states, -L.item() * states))
for i in range(len(states)):
state = np.matrix(states[i])
action = -L * state
actions.append(action.item())
q_true = env.true_Qvalue(L, gamma, state, action)
# q_state = env.true_Qvalue_state(L, gamma, state)
q_true_his.append(q_true)
now = time.strftime("%Y-%m-%d-%H_%M_%S", time.localtime(time.time()))
# save estimate data to file
dirname = "data/Regression/states[" + str(state_low) + "," + str(
state_high) + "]/"
try:
os.mkdir(dirname)
except OSError as error:
print(error)
# # q_true
# filename = dirname + "q_true.pickle"
# f = open(filename, 'wb')
# pickle.dump(q_true_his, f)
# f.close()
# estimate
# if params['basis_func'].name()[:3]=='RBF':
# filename = dirname + params['basis_func'].name()+"-"+str(params['basis_function_dim'])+"-"+params['reg_opt']+"-"+str(params['reg_param'])+".pickle"
# else:
# filename = dirname + params['basis_func'].name()+".pickle"
# f1 = open(filename, 'wb')
# pickle.dump(q_estimate_his, f1)
# f1.close()
# plot
plt.figure(figsize=(10, 10))
plt.title('state from -2 to 2 and action(-L*state)')
plt.subplot(411)
plt.plot(states)
plt.title('state')
plt.subplot(412)
plt.plot(actions)
plt.title('actions')
# plt.show()
plt.subplot(413)
plt.plot(states, q_true_his)
plt.title('true Q')
# plt.show()
plt.subplot(414)
plt.plot(states, q_estimate_his)
plt.title('estimate Q')
# plt.savefig(now+"q_true&estimate-state(-2,2)")
plt.show()
# for specific state
# range of action
state = np.matrix(-1.)
actions = np.linspace(-6, 6, 100)
q_true_his = []
q_estimate_his = reg.predict(
basis_function.evaluate(np.full(len(actions), state), actions))
for i in range(len(actions)):
action = np.matrix(actions[i])
# print("q_estimate: {}".format(q_estimate))
q_true = env.true_Qvalue(L, gamma, state, action)
# print("q_true: {}".format(q_true))
q_true_his.append(q_true)
# true_weights_scala = env.true_weights_scala(L, gamma)
# print("true_weights_scala: {}".format(true_weights_scala))
# estimate_weights = agent.policy.weights
# print("estimate_weights: {}".format(estimate_weights))
# true_estimate_error = np.linalg.norm(true_weights_scala-estimate_weights)
# print("true_estimate_error: {}".format(true_estimate_error))
now = time.strftime("%Y-%m-%d-%H_%M_%S", time.localtime(time.time()))
# save data to file
# note .item() only for one element
dirname = "data/Estimation/state=" + str(state.item()) + "/"
try:
os.mkdir(dirname)
except OSError as error:
print(error)
# # save q_true
# filename = dirname + "q_true.pickle"
# f = open(filename, 'wb')
# pickle.dump(q_true_his, f)
# f.close()
# save q_estimate
# if params['basis_func'].name()[:3] == 'RBF':
# filename = dirname + params['basis_func'].name()+"-"+str(params['basis_function_dim'])+"-"+params['reg_opt']+"-"+str(params['reg_param'])+".pickle"
# else:
# filename = dirname + params['basis_func'].name()+".pickle"
# f1 = open(filename, 'wb')
# pickle.dump(q_estimate_his, f1)
# f1.close()
print("q_estimate_his: {}".format(q_estimate_his))
plt.figure(figsize=(8, 6))
plt.subplot(211)
plt.plot(actions, q_estimate_his)
plt.title('q estimate')
plt.subplot(212)
plt.plot(actions, q_true_his)
plt.title('q true')
# plt.savefig("images/rbf-lqr/"+str(n_features)+"-"+now+"q_true&estimate-action(-1,1)")
plt.show()
env.close()
replay_buffer.reset()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--weight_discount', default=0.99,
type=float) # note: 1.0 only for finite
parser.add_argument('--exploration', default=0.1,
type=float) # 0.0 means no random action
parser.add_argument('--basis_function_dim', default=40, type=int)
parser.add_argument('--stop_criterion', default=10**-5, type=float)
parser.add_argument('--sample_max_steps',
default="5000",
choices=["2000", "5000"])
parser.add_argument('--max_steps', default=500, type=int)
parser.add_argument('--reg_opt',
default="l2",
choices=["l1", "l2", "wl1", "none"])
parser.add_argument('--reg_param', default=0.001, type=float)
parser.add_argument('--rbf_sigma', default=0.01, type=float)
# parser.add_argument('--batch_size', default=2000, type=int)
parser.add_argument('--L', default=0.1,
type=float) # 0.0 means no random action
args = parser.parse_args()
params = vars(args)
# env
env = LQREnv()
params['n_actions'] = env.action_space.shape[0]
params['state_dim'] = env.observation_space.shape[0]
params['sample_max_steps'] = int(params['sample_max_steps'])
# print(params['state_dim'])
# basis function
n_features = params['basis_function_dim']
gamma = params['weight_discount']
# params['basis_func'] = ExactBasis4LQR()
params['basis_func'] = RBF_LQR([params['state_dim'], params['n_actions']],
n_features, params['rbf_sigma'])
# esitimate specific L
L = np.matrix(params['L'])
# params['policy'] = ExactPolicy4LQR(params['basis_func'], L)
params['policy'] = RBFPolicy4LQR(params['basis_func'], L)
# set the parameters for agent
batch_size = params['sample_max_steps']
max_steps = params['max_steps']
agent = LSPIAgent(params)
sample_filename = LQR_samples_filename[params['sample_max_steps']]
f = open(sample_filename, 'rb')
replay_buffer = pickle.load(f)
samples = replay_buffer.sample(batch_size)
print("length of sample: {}".format(len(samples[0])))
error_list, new_weights = agent.train(samples)
# for specific state
# range of action
for si in range(-10, 10, 5):
si = -1.0
true_estimate_error_history = []
q_true_his = []
q_estimate_his = []
state = np.matrix(si)
actions = np.linspace(-6, 6, 100)
q_estimate_his = agent.policy.q_state_action_func(
np.full(len(actions), state), actions)
for i in range(len(actions)):
action = np.matrix(actions[i])
# q_estimate = agent.policy.q_state_action_func(state, action)[0]
# q_estimate_his.append(q_estimate)
# print("q_estimate: {}".format(q_estimate))
q_true = env.true_Qvalue(L, gamma, state, action)
# print("q_true: {}".format(q_true))
q_true_his.append(q_true)
true_weights_scala = env.true_weights_scala(L, gamma)
print("true_weights_scala: {}".format(true_weights_scala))
estimate_weights = agent.policy.weights
print("estimate_weights: {}".format(estimate_weights))
true_estimate_error = np.linalg.norm(true_weights_scala -
estimate_weights)
print("true_estimate_error: {}".format(true_estimate_error))
# now = time.strftime("%Y-%m-%d-%H_%M_%S",time.localtime(time.time()))
# save data to file
# note .item() only for one element
# dirname = "data/Estimation/state=" + str(state.item())+"/"
# try:
# os.mkdir(dirname)
# except OSError as error:
# print(error)
# # save q_true
# filename = dirname + "q_true.pickle"
# f = open(filename, 'wb')
# pickle.dump(q_true_his, f)
# f.close()
# save q_estimate
# if params['basis_func'].name()[:3] == 'RBF':
# filename = dirname + params['basis_func'].name()+"-"+str(params['basis_function_dim'])+"-"+params['reg_opt']+"-"+str(params['reg_param'])+".pickle"
# else:
# filename = dirname + params['basis_func'].name()+".pickle"
# f1 = open(filename, 'wb')
# pickle.dump(q_estimate_his, f1)
# f1.close()
qe_index = np.argmax(q_estimate_his)
qt_index = np.argmax(q_true_his)
plt.figure(figsize=(10, 8))
plt.subplot(211)
ax = plt.gca()
plt.plot(actions, q_estimate_his)
plt.scatter(actions[qe_index], q_estimate_his[qe_index], c='r')
plt.xlabel('actions')
plt.ylabel('q value')
plt.title('estimate q value')
ax.xaxis.set_label_coords(1.02, -0.035)
plt.subplot(212)
plt.plot(actions, q_true_his)
plt.scatter(actions[qt_index], q_true_his[qt_index], c='r')
plt.title('true q value')
# plt.savefig("images/rbf-lqr/"+str(n_features)+"-"+now+"q_true&estimate-action(-1,1)")
plt.show()
env.close()
replay_buffer.reset()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--weight_discount', default=0.99,
type=float) # note: 1.0 only for finite
parser.add_argument('--exploration', default=0.1,
type=float) # 0.0 means no random action
parser.add_argument('--basis_function_dim', default=100, type=int)
parser.add_argument('--stop_criterion', default=10**-3, type=float)
parser.add_argument('--sample_max_steps',
default="10000",
choices=["2000", "5000", "10000", "20000"])
parser.add_argument('--max_steps', default=20, type=int)
parser.add_argument('--reg_opt',
default="l2",
choices=["l1", "l2", "wl1", "none"])
parser.add_argument('--reg_param', default=0.001, type=float)
parser.add_argument('--rbf_sigma', default=0.01, type=float)
# parser.add_argument('--batch_size', default=2000, type=int)
parser.add_argument('--L', default=0.1,
type=float) # 0.0 means no random action
args = parser.parse_args()
params = vars(args)
# env
# env = LQREnv()
A = np.matrix([[0.9, 0.], [0.08, 0.9]])
B = np.matrix([[0.1], [0.6]])
Z1 = np.matrix([[1, 0], [0, 0]])
Z2 = 0.1
noise_cov = np.matrix([[1, 0], [0, 1]])
env = LQREnv(A=A, B=B, Z1=Z1, Z2=Z2, noise_cov=noise_cov)
params['n_actions'] = env.action_space.shape[0]
params['state_dim'] = env.observation_space.shape[0]
params['sample_max_steps'] = int(params['sample_max_steps'])
# print(params['state_dim'])
# basis function
n_features = params['basis_function_dim']
gamma = params['weight_discount']
# params['basis_func'] = ExactBasis4LQR()
params['basis_func'] = RBF_LQR([params['state_dim'], params['n_actions']],
n_features, params['rbf_sigma'])
params['policy'] = RBFPolicy4LQR(params['basis_func'])
# set the parameters for agent
batch_size = params['sample_max_steps']
max_steps = params['max_steps']
agent = LSPIAgent(params)
sample_filename = LQR2D_samples_filename[params['sample_max_steps']]
# sample_filename = LQR_samples_filename["-22-10000"]
f = open(sample_filename, 'rb')
replay_buffer = pickle.load(f)
sample = replay_buffer.sample(batch_size)
print("length of sample: {}".format(len(sample[0])))
error_list, new_weights = agent.train(sample)
# states = np.linspace(-10,10,500)
states = np.linspace([-10] * env.m, [10] * env.m, 500)
trueL = env.optimal_policy_L(gamma)
actions_true = []
for i in range(len(states)):
state = np.matrix(states[i].reshape(env.m, 1))
# action = agent.policy.get_best_action(state)
# actions_estimate.append(action)
actions_true.append((-trueL * state).item())
# print(actions_true)
actions_estimate = agent.policy.get_best_action(states)
# save agent
now = time.strftime("%Y-%m-%d", time.localtime(time.time()))
now2 = time.strftime("%H_%M_%S", time.localtime(time.time()))
path = "data/LQR2D/" + now
folder = os.path.exists(path)
if not folder:
os.makedirs(path)
fn = path + "/data-" + str(params['reg_opt']) + "-" + str(
params['reg_param']) + "-BF" + str(n_features) + "-" + params[
'basis_func'].name() + "-" + now2 + ".pkl"
f = open(fn, 'wb')
pickle.dump(actions_estimate, f)
f.close()
# plot
plt.plot(states, actions_estimate, label='estimate')
# print(actions_true)
plt.plot(states, actions_true, label='true')
plt.legend(loc='upper right')
pltfn = path + "/data-" + str(params['reg_opt']) + "-" + str(
params['reg_param']) + "-BF" + str(n_features) + "-" + params[
'basis_func'].name() + "-" + now2 + ".png"
# f = open(fn, 'wb')
plt.savefig(pltfn, dpi=300)
# plt.show()
# clean
env.close()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--env_name',
default="LQR",
choices=[
"cliff-v0", "CartPole-v0", "inverted_pedulum",
"LQR", "chain"
]) # gym env to train
parser.add_argument('--episode_num', default=10, type=int)
parser.add_argument('--weight_discount', default=0.99,
type=float) # note: 1.0 only for finite
parser.add_argument('--exploration', default=0.1,
type=float) # 0.0 means no random action
parser.add_argument('--basis_function_dim', default=10, type=int)
parser.add_argument('--stop_criterion', default=10**-5, type=float)
parser.add_argument('--sample_max_steps',
default="5000",
choices=["2000", "5000", "10000", "20000"])
parser.add_argument('--max_steps', default=500, type=int)
parser.add_argument('--batch_size', default=2000, type=int)
parser.add_argument('--update_freq', default=10000000, type=int)
parser.add_argument('--L', default=0.1,
type=float) # 0.0 means no random action
parser.add_argument('--reg_opt',
default="none",
choices=["l1", "l2", "wl1", "none"])
parser.add_argument('--reg_param', default=0.01, type=float)
args = parser.parse_args()
params = vars(args)
# env
env = LQREnv()
params['n_actions'] = env.action_space.shape[0]
params['state_dim'] = env.observation_space.shape[0]
params['basis_func'] = ExactBasis4LQR()
params['sample_max_steps'] = int(params['sample_max_steps'])
gamma = params['weight_discount']
# Note: now init policy with specific L
# the action would be related to this init L
# Remember to update L!
L = np.matrix(params['L'])
params['policy'] = ExactPolicy4LQR(params['basis_func'], L)
# set the parameters for agent
batch_size = params['batch_size']
update_freq = params['update_freq']
n_episode = params['episode_num']
max_steps = params['max_steps']
agent = LSPIAgent(params)
sample_filename = LQR_samples_filename[params['sample_max_steps']]
f = open(sample_filename, 'rb')
replay_buffer = pickle.load(f)
# training to get weights -> best L
sample = replay_buffer.sample(batch_size)
error_list, new_weights = agent.train(sample)
# log
reward_his = []
estimateL_his = []
i_update = 0
for i_episode in range(n_episode):
state = env.reset()
i_episode_steps = 0
accu_reward = 0
# LQR never done
# print("i_episode: {}".format(i_episode))
while True:
i_episode_steps += 1
action = agent.get_action(state)
state_, reward, done, info = env.step(action[0])
# print("state: {}".format(state))
# print("action: {}".format(action))
# print("reward: {}".format(reward))
# print("state_: {}\n".format(state_))
# replay_buffer.store(state, action, reward, state_, done)
accu_reward += reward
state = state_
if i_episode_steps > 20:
# done
# print("accu_reward {}\n".format(accu_reward))
reward_his.append(accu_reward)
time.sleep(0.1)
break
# estimateL = agent.policy.estimate_policy_L().item()
# use true Q/weights in this L to check whether it converge to optimal one
true_weights = env.true_weights_scala(agent.policy.L, gamma)
w3 = true_weights[2].item()
w4 = true_weights[3].item()
estimateL = np.matrix(w4 / (2 * w3))
estimateL_his.append(estimateL.item())
agent.policy.L = estimateL
print("estimateL: {}".format(estimateL))
agent.train(sample)
# now = time.strftime("%Y-%m-%d-%H_%M_%S",time.localtime(time.time()))
trueL = env.optimal_policy_L(gamma).item()
print("trueL: {}".format(trueL))
print("estimateL_his: {}", estimateL_his)
env.close()
replay_buffer.reset()
# plot
# plt.plot(reward_his)
# plt.show()
plt.plot(np.arange(n_episode), estimateL_his, label='estimate L')
plt.plot(np.arange(n_episode), [trueL] * n_episode, label='optimal L')
plt.ylabel('L')
plt.xlabel('iteration')
plt.legend(loc='upper right')
plt.show()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--weight_discount', default=0.99, type=float) # note: 1.0 only for finite
parser.add_argument('--exploration', default=0.1, type=float) # 0.0 means no random action
parser.add_argument('--basis_function_dim', default=20, type=int)
parser.add_argument('--stop_criterion', default=10**-3, type=float)
parser.add_argument('--sample_max_steps', default="5000", choices=["2000","5000","10000","20000"])
parser.add_argument('--reg_opt', default="wl1", choices=["l1","l2", "wl1", "none"])
parser.add_argument('--reg_param', default=0.001, type=float)
parser.add_argument('--rbf_sigma', default=0.01, type=float)
# parser.add_argument('--batch_size', default=2000, type=int)
parser.add_argument('--L', default=0.1, type=float) # 0.0 means no random action
args = parser.parse_args()
params = vars(args)
# env
# env = LQREnv()
# present state[1]
A = np.matrix([[0.9,0.],[0.1,0.9]])
B = np.matrix([[1],[0.]])
Z1 = np.matrix([[0,0],[0,1]])
Z2 = 0.1
noise_cov = np.matrix([[0.01,0],[0,0.01]])
env = LQREnv(A=A,B=B,Z1=Z1,Z2=Z2,noise_cov=noise_cov)
params['n_actions'] = env.action_space.shape[0]
params['state_dim'] = env.observation_space.shape[0]
params['sample_max_steps'] = int(params['sample_max_steps'])
# print(params['state_dim'])
# basis function
n_features = params['basis_function_dim']
gamma = params['weight_discount']
# params['basis_func'] = ExactBasis4LQR()
batch_size = params['sample_max_steps']
sample_filename = LQR2D_samples_filename[params['sample_max_steps']]
# sample_filename = LQR_samples_filename["-22-10000"]
f = open(sample_filename, 'rb')
replay_buffer = pickle.load(f)
sample = replay_buffer.sample(batch_size)
print("length of sample: {}".format(len(sample[0])))
L_vec = 2*np.concatenate((np.max(np.abs(sample[0]), axis=0).flatten(), [np.max(np.abs(sample[1]))]))
params['basis_func'] = Laplace_LQR(n_features,L_vec)
params['policy'] = RBFPolicy4LQR(params['basis_func'])
agent = BellmanAgent(params)
error_list, new_weights = agent.train(sample)
test_agent4LQR2D(agent, env, gamma, ifshow=False)
env.close()