def step(self, a):
""" Take acceleration action *a*, adding noise as specified in ``__init__()``. """
s = self.state
position, velocity, cflag = self.state
noise = self.accelerationFactor * self.noise * \
2 * (self.random_state.rand() - .5)
velocity += (
noise + self.actions[a] * self.accelerationFactor +
np.cos(self.hillPeakFrequency * position) * self.gravityFactor)
velocity = bound(velocity, self.XDOTMIN, self.XDOTMAX)
position += velocity
position = bound(position, self.XMIN, self.XMAX)
if position <= self.XMIN and velocity < 0:
velocity = 0 # Bump into wall
r = self.STEP_REWARD
#------------- calculate the reward and update the last dimension of state -------------#
### A. abs(distance)
# if cflag < self.FlagNum:
# dist_s = np.absolute( s[0] - self.FlagPos[int(cflag)] )
# dist_ns = np.absolute( position - self.FlagPos[int(cflag)] )
# if dist_ns < dist_s:
# r += self.FlagHeight[int(cflag)]/dist_s
# #---- if cflag is updated ----#
# ### (2) the agent is near the flag
# if np.absolute(self.FlagPos[int(cflag)] - position) <= 0.1:
# cflag += 1
# # print('collect flag ', cflag)
# ### (1) the agent must pass the flag
# # p_low, p_high = min(s[0], position), max(s[0], position)
# # if self.FlagPos[int(cflag)] >= p_low and self.FlagPos[int(cflag)] <= p_high:
# # cflag += 1
### B. sqr(distance)
if cflag < self.FlagNum:
distance_s = s[0] - self.FlagPos[int(cflag)]
exponent_s = 0.5 * distance_s**2 / self.FlagWid[int(cflag)]
phi_s = self.FlagHeight[int(cflag)] * np.exp(-exponent_s)
distance_ns = position - self.FlagPos[int(cflag)]
exponent_ns = 0.5 * distance_ns**2 / self.FlagWid[int(cflag)]
phi_ns = self.FlagHeight[int(cflag)] * np.exp(-exponent_ns)
r += self.discount_factor * phi_ns - phi_s
#---- if cflag is updated ----#
p_low, p_high = min(s[0], position), max(s[0], position)
if self.FlagPos[int(cflag)] >= p_low and self.FlagPos[int(
cflag)] <= p_high:
cflag += 1
# print(cflag)
ns = np.array([position, velocity, int(cflag)])
self.collectedFlags = int(cflag)
self.state = ns.copy()
terminal = self.isTerminal()
if terminal: r += self.GOAL_REWARD
return r, ns, terminal, self.possibleActions()
def step(self, a):
""" Take acceleration action *a*, adding noise as specified in ``__init__()``. """
s = self.state
position, velocity, cflag = self.state
noise = self.accelerationFactor * self.noise * \
2 * (self.random_state.rand() - .5)
velocity += (noise +
self.actions[a] * self.accelerationFactor +
np.cos(self.hillPeakFrequency * position) * self.gravityFactor)
velocity = bound(velocity, self.XDOTMIN, self.XDOTMAX)
position += velocity
position = bound(position, self.XMIN, self.XMAX)
if position <= self.XMIN and velocity < 0:
velocity = 0 # Bump into wall
#------------- calculate the reward and update the last dimension of state -------------#
r = self.STEP_REWARD
if cflag < self.FlagNum:
dist_s = np.sum( np.absolute( s[0:-1] - self.FlagPos[int(cflag)] ) )
ns_pv = np.array([position, velocity])
dist_ns = np.sum( np.absolute( ns_pv - self.FlagPos[int(cflag)] ) )
if dist_ns < dist_s:
r += self.FlagHeight[int(cflag)]/dist_s/100
p_low, p_high = min(s[0], position), max(s[0], position)
v_low, v_high = min(s[1], velocity), max(s[1], velocity)
if np.all(self.FlagPos[int(cflag)] >= np.array([p_low, v_low])) and \
np.all(self.FlagPos[int(cflag)] <= np.array([p_high, v_high])):
cflag += 1
# print('collect flag ', cflag)
# if cflag < self.FlagNum:
# exponent_s = np.divide(np.sum(0.5*(s[0:-1]-self.FlagPos[int(cflag)])**2), self.FlagWid[int(cflag)])
# phi_s = np.multiply(self.FlagHeight[int(cflag)], np.exp(-exponent_s))
# ns_pv = np.array([position, velocity])
# exponent_ns = np.divide(np.sum(0.5*(ns_pv-self.FlagPos[int(cflag)])**2), self.FlagWid[int(cflag)])
# phi_ns = np.multiply(self.FlagHeight[int(cflag)], np.exp(-exponent_ns))
# r += self.discount_factor * phi_ns - phi_s
# p_low, p_high = min(s[0], position), max(s[0], position)
# v_low, v_high = min(s[1], velocity), max(s[1], velocity)
# if np.all(self.FlagPos[int(cflag)] >= np.array([p_low, v_low])) and \
# np.all(self.FlagPos[int(cflag)] <= np.array([p_high, v_high])):
# cflag += 1
# if np.absolute(position - self.FlagPos[int(cflag),0]) <= 0.1 and \
# np.absolute(velocity - self.FlagPos[int(cflag),1]) <= 0.02:
# cflag += 1
ns = np.array([position, velocity, int(cflag)])
self.collectedFlags = int(cflag)
self.state = ns.copy()
terminal = self.isTerminal()
if terminal: r += self.GOAL_REWARD
return r, ns, terminal, self.possibleActions()
def step(self, a):
"""
Take acceleration action *a*, adding noise as specified in ``__init__()``.
"""
position, velocity = self.state
noise = self.accelerationFactor * self.noise * \
2 * (self.random_state.rand() - .5)
velocity += (noise +
self.actions[a] * self.accelerationFactor +
np.cos(self.hillPeakFrequency * position) * self.gravityFactor)
velocity = bound(velocity, self.XDOTMIN, self.XDOTMAX)
position += velocity
position = bound(position, self.XMIN, self.XMAX)
if position <= self.XMIN and velocity < 0:
velocity = 0 # Bump into wall
ns = np.array([position, velocity])
self.state = ns.copy()
terminal = self.isTerminal()
r = self.GOAL_REWARD if terminal else self.STEP_REWARD
return r, ns, terminal, self.possibleActions()
def step(self, a):
""" Take acceleration action *a*, adding noise as specified in ``__init__()``. """
s = self.state
position, velocity, cflag = self.state
noise = self.accelerationFactor * self.noise * \
2 * (self.random_state.rand() - .5)
velocity += (noise +
self.actions[a] * self.accelerationFactor +
np.cos(self.hillPeakFrequency * position) * self.gravityFactor)
velocity = bound(velocity, self.XDOTMIN, self.XDOTMAX)
position += velocity
position = bound(position, self.XMIN, self.XMAX)
if position <= self.XMIN and velocity < 0:
velocity = 0 # Bump into wall
# calculate the reward and update the last dimension of state
r = self.STEP_REWARD
if cflag < self.FlagNum:
distance_s = s[0] - self.FlagPos[int(cflag)]
exponent_s = 0.5 * distance_s**2 / self.FlagWid[int(cflag)]
phi_s = self.FlagHeight[int(cflag)] * np.exp(-exponent_s)
distance_ns = position - self.FlagPos[int(cflag)]
exponent_ns = 0.5 * distance_ns**2 / self.FlagWid[int(cflag)]
phi_ns = self.FlagHeight[int(cflag)] * np.exp(-exponent_ns)
r += self.discount_factor * phi_ns - phi_s
if (position>=self.FlagPos[int(cflag)] and s[0]<=self.FlagPos[int(cflag)]) or \
(position<=self.FlagPos[int(cflag)] and s[0]>=self.FlagPos[int(cflag)]):
cflag += 1
# print(cflag)
ns = np.array([position, velocity, int(cflag)])
self.collectedFlags = int(cflag)
self.state = ns.copy()
terminal = self.isTerminal()
if terminal: r += self.GOAL_REWARD
return r, ns, terminal, self.possibleActions()
def step(self, a):
""" Take acceleration action *a*, adding noise as specified in ``__init__()``. """
s = self.state
position, velocity = self.state
noise = self.accelerationFactor * self.noise * \
2 * (self.random_state.rand() - .5)
velocity += (
noise + self.actions[a] * self.accelerationFactor +
np.cos(self.hillPeakFrequency * position) * self.gravityFactor)
velocity = bound(velocity, self.XDOTMIN, self.XDOTMAX)
position += velocity
position = bound(position, self.XMIN, self.XMAX)
if position <= self.XMIN and velocity < 0:
velocity = 0 # Bump into wall
terminal = self.isTerminal()
ns = np.array([position, velocity])
self.state = ns.copy()
if terminal: r = self.GOAL_REWARD
else:
collected = self.collectedFlags
if collected < self.FlagNum:
distance_s = s[0] - self.FlagPos[collected]
exponent_s = 0.5 * distance_s**2 / self.FlagWid[collected]
phi_s = self.FlagHeight[collected] * np.exp(-exponent_s)
distance_ns = ns[0] - self.FlagPos[collected]
exponent_ns = 0.5 * distance_ns**2 / self.FlagWid[collected]
phi_ns = self.FlagHeight[collected] * np.exp(-exponent_ns)
r = self.STEP_REWARD + self.discount_factor * phi_ns - phi_s
if (ns[0]>=self.FlagPos[collected] and s[0]<=self.FlagPos[collected]) or \
(ns[0]<=self.FlagPos[collected] and s[0]>=self.FlagPos[collected]):
self.collectedFlags += 1
else:
r = self.STEP_REWARD
return r, ns, terminal, self.possibleActions()
