def _jointStateAction(self, state, action):
""" Create a joint state-action pseudo-state """
dimensions = [dimension for dimension in state.dimensions]
actionDimension = copy.deepcopy(
self.actionSpace.getDimensions()[0]) # there is per assert only 1
dimensions.append(actionDimension)
stateAction = State(numpy.hstack((state, action)), dimensions)
stateAction.scale()
return stateAction
def getStateList(self):
""" Returns a list of all possible states.
Even if this state space has more than one dimension, it returns a one
dimensional list that contains all possible states.
This is achieved by creating the crossproduct of the values of
all dimensions. It requires that all dimensions are discrete.
"""
# Check that all dimensions are discrete
for dimension in self.getDimensions():
assert dimension.isDiscrete(), \
"State list are available only for discrete state spaces!"
#Create cross product of all possible actions
crossProduct = lambda ss, row=[], level=0: \
len(ss)>1 \
and reduce(lambda x,y:x+y,[crossProduct(ss[1:],row+[i],level+1) for i in ss[0]]) \
or [row+[i] for i in ss[0]]
listOfStateDimensionValues = [
dimension.getValues() for dimension in self.getDimensions()
]
# Return crossproduct of states
return map(lambda value: State(value, self.getDimensions()),
crossProduct(listOfStateDimensionValues))
def computeQ(self, state, action):
""" Computes the Q-value of the given state-action pair
The Q-Value of the query state-action is computed as weighted linear
combination of the *k* nearest neighbors, where the weighting is based
on the distance between the respective state and the query state.
"""
if not action in self.actionsKDTree \
or self.actionsKDTree[action] == None:
return 0.0
k = min(self.k, self.states[action].shape[0])
indices, distances = self.actionsKDTree[action].knn(state, k)
qValue = 0.0
denominator = 0.0
for index, distance in zip(indices[0], distances[0]):
neighbor = State(self.states[action][index],
state.dimensions)
neighborsQValue = self.qValues[(neighbor, action)]
weight = gaussian(distance, self.b_X)
qValue += weight * neighborsQValue
denominator += weight
return qValue / denominator
def getNearestNeighbors(self, state, k, b):
""" Determines *k* most similar states to the given *state*
Determines *k* most similar states to the given *state*. Returns an
iterator over (weight, neighbor), where weight is the guassian weigthed
influence of the neighbor onto *state*. The weight is computed via
exp(-dist/b**2)/sum_over_neighbors(exp(-dist_1/b**2)).
Note that the weights sum to 1.
"""
if self.states is not None:
k = min(k, self.states.shape[1])
if hasattr(self,
"kdTree"): # if we can use approximate nearest neighbor
indices, distances = self.kdTree.knn(state, k=k)
# Compute weights based on distance
weights = numpy.exp(-distances[0] / (b**2))
denominator = numpy.sum(weights)
# If the distances become too large, then all values can become zero
# In this situation, we simply return the closest state and probability 1.
if denominator == 0:
import warnings
warnings.warn(
"Too large distances, returning only closest example")
indices[0] = [indices[0][0]]
weights[0] = 1.0
else:
# Normalize weights
weights = weights / denominator
for index, weight in zip(indices[0], weights):
yield weight, State(self.states.T[index], state.dimensions)
else:
assert k == 1
minDist = numpy.inf
closestSample = None
for index in range(self.states.shape[1]):
sampleState = self.states.T[index]
dist = numpy.linalg.norm(state - sampleState)
if dist < minDist:
minDist = dist
closestSample = sampleState
yield 1.0, State(closestSample, state.dimensions)
else:
raise ModelNotInitialized("No state samples available")
def getSuccessorDistribution(self, state):
""" Return the successor distribution for the given *state*.
Returns an iterator that yields pairs of states and
their probabilities of being the successor of the given *state*.
"""
if self.states == None:
raise ModelNotInitialized()
k = min(self.states.shape[0], self.k)
if self.rebuildSucc:
self.succKDTree = ann.kdtree(self.states)
self.rebuildSucc = False
indices, distances = self.succKDTree.knn(state, k)
denominator = numpy.sum(numpy.exp(-distances[0] / (self.b_Sa**2)))
# If the distances become too large, then all values can become zero
# In this situation, we simply return the closest state and probability 1.
if denominator == 0 or numpy.isnan(denominator):
import warnings
warnings.warn(
"Too large distances, returning only closest example")
indices[0] = [indices[0][0]]
distances[0] = [0.0]
denominator = numpy.exp(0.0 / (self.b_Sa**2))
for index, distance in zip(indices[0], distances[0]):
neighbor = State(
self.states[index],
state.dimensions) # TODO: not use state.dimensions
succState, reward = self.successorSamples[neighbor]
delta = succState - neighbor
predictedSuccState = State(state + delta, state.dimensions)
if not 0 <= gaussian(distance, self.b_Sa) / denominator <= 1:
import warnings
import sys
warnings.warn("Invalid distances in KNN Model!")
print distances
sys.exit(0)
yield predictedSuccState, gaussian(distance,
self.b_Sa) / denominator
def getTile(self, state):
""" Compute the activated tile for the given state_value """
if state in self.stateToTileCache:
return self.stateToTileCache[state]
else:
scaledState = State(state, copy.copy(
state.dimensions)) # avoid side-effects
scaledState.scale(0, 1)
tile = tuple(
numpy.round((numpy.array(scaledState) + self.offset) *
self.tilesPerDimension).astype(numpy.int))
self.stateToTileCache[state] = tile
self.recentStatesOrder.appendleft(state)
if len(self.recentStatesOrder) > 50:
oldestState = self.recentStatesOrder.pop()
self.stateToTileCache.pop(oldestState)
return tile
def sampleState(self):
""" Return a state drawn randomly """
stateDensity = self.exampleSet.getStateDensity()
if stateDensity != None:
# TODO: Does it make sense to sample based on the data set?
return State(stateDensity.resample(1).T[0])
else:
raise ModelNotInitialized()
def parseStateDict(self, stateDict):
#Check whether the given state dict is a valid one
assert self._isValidState(
stateDict), "State %s is invalid!" % stateDict
state = State([stateDict[key] for key in sorted(stateDict.keys())],
map(lambda name: self[name], sorted(stateDict.keys())))
return state
def getStates(self):
""" Return all states contained in this example set """
if self.states is not None and self.states.shape[1] >= 1:
return [
State(self.states[:, i], self.stateDimensions)
for i in range(self.states.shape[1])
]
else:
return []
def sampleSuccessorState(self, state):
""" Return a state drawn from the state's successor distribution """
if self._retrainingRequired():
self._updateModel()
if self.succStateModel != None:
return State(state + self.succStateModel.predict(state),
state.dimensions)
else:
raise ModelNotInitialized()
def redraw(self):
# Update policy visualization
for arrow in self.arrowInstances:
arrow.remove()
self.arrowInstances = []
# Iterate over all states and compute the value of the observed function
dimensions = [
self.stateSpace[dimName] for dimName in ["column", "row"]
]
states = [
State((column, row), dimensions) #
for column in range(self.maze.getColumns())
for row in range(self.maze.getRows())
]
for state in states:
# Evaluate function for this state
actionValues = dict(
(action, self.valueAccessFunction(state, (action, )) if self.
valueAccessFunction is not None else 0.0)
for action in ["up", "down", "left", "right"])
maxValue = max(actionValues.values())
axis = self.figPolicy.gca()
for action in actionValues.keys():
if actionValues[action] == maxValue:
self._plotArrow(axis, (state[0], state[1]), action)
# Update Q-function visualization
for state in states:
for action in ["up", "down", "left", "right"]:
value = self.valueAccessFunction(state, (action,)) \
if self.valueAccessFunction is not None else 0.0
if int(value) == value:
valueString = "%s\n%s" % (int(value),
self.samples[(state, action)])
else:
valueString = "%.1f\n%s" % (value, self.samples[(state,
action)])
if (state, action) not in self.textInstances.keys():
if isinstance(
action, tuple
): # For TD-Agents that use crossproduct of action space
axis = self.figValueFunction[action[0]].gca()
else:
axis = self.figValueFunction[action].gca()
textInstance = \
axis.text(state[0] - 0.3, state[1], valueString, fontsize=8)
self.textInstances[(state, action)] = textInstance
else:
self.textInstances[(state, action)].set_text(valueString)
self.canvasPolicy.draw()
for index, action in enumerate(self.actions):
self.canvasValueFunction[action].draw()
def boundState(state):
""" Return the given state with each dimension bounded to [-0.1, 1.1] """
assert type(state) == State
dimensions = state.dimensions
# change to numpy array since where operator does not work on States
state = numpy.array(state) # Create a copy
state[numpy.where(state < 0.0)] = 0.0
state[numpy.where(state > 1.0)] = 1.0
# Change back to State
state = State(state, dimensions)
return state
def evaluate(self, state):
""" Evaluates the policy for the given state """
# If bias is desired, we simply append an additional dimension that
# always takes the value 1
if self.bias:
dimensions = [dimension for dimension in state.dimensions]
biasDimension = Dimension("zzz_bias", "continuous", [[0, 1]])
dimensions.append(biasDimension)
input = State(numpy.hstack((state, [1])), dimensions)
else: # Just create a copy of the state
input = State(state, state.dimensions)
# Scale state dimensions to range (-1, 1)
input.scale(-1, 1)
# Compute the activation (the preference of the policy) for each action
# The last action has always activation 0 (remove redundant
# representations for the same policy)
actionActivations = []
for actionIndex in range(self.numActions - 1):
activation = numpy.dot(
self.weights[self.inputDims * actionIndex:self.inputDims *
(actionIndex + 1)], input)
actionActivations.append(activation)
actionActivations.append(0.0)
# Greedy action selection
selectedAction = max(
zip(actionActivations, range(len(actionActivations))))[1]
return self.actions[selectedAction]
def evaluate(self, state):
""" Evaluates the policy for the given state """
# If bias is desired, we simply append an additional dimension that
# always takes the value 1
if self.bias:
dimensions = [dimension for dimension in state.dimensions]
biasDimension = Dimension("zzz_bias", "continuous", [[0, 1]])
dimensions.append(biasDimension)
state = State(numpy.hstack((state, [1])), dimensions)
# Scale state dimensions to range (-1, 1)
state.scale(-1, 1)
# Compute the activation (the preference of the policy) for each action
output = []
for outputDimIndex in range(self.numActions):
activation = numpy.dot(
self.weights[self.inputDims * outputDimIndex:self.inputDims *
(outputDimIndex + 1)], state)
output.append(activation)
return output
def getPredecessorDistribution(self, state):
""" Return a states drawn from *state*'s predecessor distribution
Returns a possible predecessor state of *state* drawn from the
predecessor state distribution according to its probability mass function.
"""
if self.succStates == None:
raise ModelNotInitialized()
k = min(self.states.shape[0], self.k)
if self.rebuildPred:
self.predKDTree = ann.kdtree(self.succStates)
self.rebuildPred = False
indices, distances = self.predKDTree.knn(state, k)
denominator = numpy.sum(numpy.exp(-distances[0] / (self.b_Sa**2)))
# If the distances become too large, then all values can become zero
# In this situation, we simply return the closest state and probability 1.
if denominator == 0:
import warnings
warnings.warn("Too large distances, returing only closest example")
indices[0] = [indices[0][0]]
distances[0] = [0.0]
denominator = numpy.exp(0.0 / (self.b_Sa**2))
for index, distance in zip(indices[0], distances[0]):
neighbor = State(
self.succStates[index],
state.dimensions) # TODO: not use state.dimensions
predState, reward = self.predecessorSamples[neighbor]
delta = predState - neighbor
predictedPredState = State(state + delta, state.dimensions)
yield predictedPredState, gaussian(distance,
self.b_Sa) / denominator
def generate2dStateSlice(varyDimensions,
stateSpace,
defaultDimValues,
gridNodesPerDim,
varyValueRanges=None):
""" Generate a set of states that form a 2d slice through state space.
The set of states consists of gridNodesPerDim**2 states. Each of them has
the value given by defaultDimValues except for the values in the two
dimensions passed by varyDimensions. In these two dimensions, the value
is determined based on a 2d grid that fills [0,1]x[0,1].
"""
assert len(varyDimensions) == 2, \
" We need two varyDimensions to create a 2d state space slice."
assert (sorted(stateSpace.keys()) == sorted(set(defaultDimValues.keys() + varyDimensions))), \
"Cannot create a 2d state space slice since value definition is not "\
"consistent with state space definition."
if varyValueRanges == None: # Set default value ranges
varyValueRanges = [
stateSpace[varyDimensions[0]].getValueRanges()[0],
stateSpace[varyDimensions[1]].getValueRanges()[0]
]
# Sort state dimensions according to dimension name
dimensions = [stateSpace[dimName] for dimName in sorted(stateSpace.keys())]
defaultValue = [
defaultDimValues[dimName]
for dimName in sorted(defaultDimValues.keys())
]
# The indices of the dimensions which vary
varyDimensionIndex1 = sorted(stateSpace.keys()).index(varyDimensions[0])
varyDimensionIndex2 = sorted(stateSpace.keys()).index(varyDimensions[1])
# Create the 2d slice
slice2d = {}
for i, value1 in enumerate(
numpy.linspace(varyValueRanges[0][0], varyValueRanges[0][1],
gridNodesPerDim)):
for j, value2 in enumerate(
numpy.linspace(varyValueRanges[1][0], varyValueRanges[1][1],
gridNodesPerDim)):
# instantiate default value
defaultValue[varyDimensionIndex1] = value1
defaultValue[varyDimensionIndex2] = value2
# Create state object
slice2d[(i, j)] = State(defaultValue, dimensions)
return slice2d
def getSuccessorDistribution(self, state):
""" Return the successor distribution for the given state.
Returns an iterator that yields pairs of grid nodes and
their probabilities of being the successor of the given state.
"""
if self._retrainingRequired():
self._updateModel()
if self.succStateModel != None:
# This is a deterministic model!
yield (State(state + self.succStateModel.predict(state),
state.dimensions), 1.0)
else:
raise ModelNotInitialized()
def updateValues(self, valueAccessFunction, actions):
self.axisValueFunction.clear()
for action in actions:
actionValues = []
for state in sorted(self.states):
actionValues.append(
valueAccessFunction(
State([state], self.stateSpace.values()), action))
self.axisValueFunction.plot(sorted(self.states),
actionValues,
label=str(action))
self.axisValueFunction.set_xlabel('Sum of cards')
self.axisValueFunction.set_ylabel('Value')
self.axisValueFunction.legend()
self.canvasValueFunction.draw()
def stateTransitionFct(self, state, action):
""" Returns iterator of the successor states of *action* in *state*."""
#Applies the action and calculates the new position and velocity
def minmax(item, limit1, limit2):
"Bounds item to between limit1 and limit2 (or -limit1)"
return max(limit1, min(limit2, item))
# Get position and velocity
position = state["position"]
velocity = state["velocity"]
# Determine acceleration factor
if action == 'left': # action is backward thrust
factor = -1
elif action == 'none': # action is coast
factor = 0
else: # action is forward thrust
factor = 1
# Do the actual state update
velocityChange = self.configDict["accelerationFactor"] * factor \
- 0.0025 * cos(3 * position)
velocity = minmax(velocity + velocityChange, -self.maxVelocity,
self.maxVelocity)
position += velocity
position = minmax(position, self.minPosition, self.maxPosition)
if (position <= self.minPosition) and (velocity < 0):
velocity = 0.0
if position >= self.goalPosition \
and abs(velocity) > self.configDict["maxGoalVelocity"]:
velocity = -velocity
yield State(
[position, velocity],
[self.stateSpace["position"], self.stateSpace["velocity"]]), 1.0
def getExpectedReward(self, state):
""" Returns the expected reward for the given state """
if self.states == None:
return 0.0
k = min(self.states.shape[0], self.k)
if self.rebuildSucc:
self.succKDTree = ann.kdtree(self.states)
self.rebuildSucc = False
indices, distances = self.succKDTree.knn(state, k)
denominator = numpy.sum(numpy.exp(-distances[0] / (self.b_Sa**2)))
# If the distances become too large, then all values can become zero
# In this situation, we simply return the closest state and probability 1.
if denominator == 0:
import warnings
warnings.warn(
"Too large distances, returning only closest example")
indices[0] = [indices[0][0]]
distances[0] = [0.0]
denominator = numpy.exp(0.0 / (self.b_Sa**2))
expectedReward = 0.0
for index, distance in zip(indices[0], distances[0]):
neighbor = State(
self.states[index],
state.dimensions) # TODO: not use state.dimensions
succState, reward = self.successorSamples[neighbor]
weight = gaussian(distance, self.b_Sa) / denominator
expectedReward += reward * weight
return expectedReward
def _updateSamples(self, state, action, reward, succState, episodeTerminated):
# Determine color
if self.colorCriterion == "Action":
value = action
elif self.colorCriterion == "Reward":
value = reward
elif self.colorCriterion == "Q-Value":
if self.evalFunction is None: return
queryState = State((succState['x'], succState['xdot'],
succState['y'], succState['ydot']),
self.dimensions)
value = self.evalFunction(queryState)
self.minValue = min(value, self.minValue)
self.maxValue = max(value, self.maxValue)
if self.drawingEnabledCheckbox.checkState(): # Immediate drawing
# Remove ball patch if it is drawn currently
if self.ballPatch != None:
self.ballPatch.remove()
self.ballPatch = None
if self.drawStyle == "Current Position":
# Remove old trajectory
self._removeTrajectory()
self.rememberedSegments = []
# Plot ball
self.ballPatch = Circle([state["x"], state["y"]],
self.pinballMazeEnv.maze.ballRadius, facecolor='k')
self.axis.add_patch(self.ballPatch)
self.canvas.draw()
elif self.drawStyle == "Online (All)":
# If drawing was just reactivated
self._drawRememberedSegments()
# Draw current transition
lines = self.axis.plot([state["x"], succState["x"]],
[state["y"], succState["y"]], '-',
color=self._determineColor(value))
self.linePatches.extend(lines)
self.canvas.draw()
else: # "Last Episode"
# Remember state trajectory, it will be drawn at the end
# of the episode
self.rememberedSegments.append((state["x"], succState["x"],
state["y"], succState["y"],
value))
if episodeTerminated:
# Remove last trajectory, draw this episode's trajectory
self._removeTrajectory()
self._drawRememberedSegments()
self.canvas.draw()
# When coloring trajectory based on real valued criteria,
# we have to update the legend now
if self.colorCriterion == "Q-Value":
self.legendWidget.clear()
for value in numpy.logspace(0, numpy.log10(self.maxValue - self.minValue + 1), 10):
value = value - 1 + self.minValue
color = self._determineColor(value)
item = QtGui.QListWidgetItem(str(value), self.legendWidget)
qColor = QtGui.QColor(int(color[0]*255),
int(color[1]*255),
int(color[2]*255))
item.setTextColor(qColor)
self.legendWidget.addItem(item)
else:
if self.drawStyle != "Current Position":
# Remember state trajectory, it will be drawn once drawing is
# reenabled
self.rememberedSegments.append((state["x"], succState["x"],
state["y"], succState["y"],
value))
def _extractState(self, stateAction):
""" Extracts the state from the joint state-action pseudo-state """
dimensions = [dimension for dimension in stateAction.dimensions][:-1]
state = State(stateAction[:-1], dimensions)
return state
def plot(self, ax, stateSpace, plotStateDims, dimValues, plotSamples,
colorFct, **kwargs):
# Determine index of plot dimensions
stateIndex1 = sorted(stateSpace.keys()).index(plotStateDims[0])
stateIndex2 = sorted(stateSpace.keys()).index(plotStateDims[1])
xValues = numpy.linspace(0, 1, dimValues[stateIndex1])
yValues = numpy.linspace(0, 1, dimValues[stateIndex2])
U = numpy.zeros((len(xValues), len(yValues)))
V = numpy.zeros((len(xValues), len(yValues)))
color = numpy.zeros((len(xValues), len(yValues)))
for i in range(len(xValues)):
for j in range(len(yValues)):
numberOfDimensions = stateSpace.getNumberOfDimensions()
node = numpy.zeros(numberOfDimensions)
for k in range(numberOfDimensions):
if k == stateIndex1:
node[k] = xValues[i]
elif k == stateIndex2:
node[k] = yValues[j]
else:
node[k] = (dimValues[k] / 2 + 0.5) / dimValues[k]
node = State(node, [
Dimension(
sorted(stateSpace.keys())[dimNum], "continuous",
[[0, 1]]) for dimNum in range(numberOfDimensions)
])
# Find the maximum likely successor state
p = 0.0
maxSuccNode = node
meanSuccNode = numpy.zeros(len(node))
for succNode, prob in self.getSuccessorDistribution(node):
meanSuccNode += succNode * prob
if prob > p:
maxSuccNode = succNode
p = prob
U[i, j] = meanSuccNode[stateIndex1] - node[stateIndex1]
V[i, j] = meanSuccNode[stateIndex2] - node[stateIndex2]
color[i, j] = colorFct(self, node, meanSuccNode)
X, Y = numpy.meshgrid(xValues, yValues)
ax.contourf(Y, X, color, 15)
# pylab.colorbar()
# Decide whether we plot the training samples or the predictions
if plotSamples:
ax.scatter(self.states[:, stateIndex1],
self.states[:, stateIndex2],
marker='o',
c='b',
s=5)
else:
ax.quiver(Y, X, U, V)
ax.plot(range(0))
ax.set_xlim(0, 1)
ax.set_ylim(0, 1)
ax.set_xlabel(plotStateDims[0])
ax.set_ylabel(plotStateDims[1])
ax.set_xticklabels([])
ax.set_yticklabels([])
def _plotFunction(self):
if self.evalFunction is None:
return
self.lock.acquire()
# Clean up old plot
for patch in self.plottedPatches:
patch.remove()
self.plottedPatches = []
self.colorMapping = dict()
self.colors = cycle(["b", "g", "r", "c", "m", "y"])
cmap = pylab.get_cmap("jet")
# Check if the observed function returns discrete or continuous value
discreteFunction = isinstance(self.functionObservable,
FunctionOverStateSpaceObservable) \
and self.functionObservable.discreteValues
if not discreteFunction:
# The values of the observed function over the 2d state space
values = numpy.ma.array(numpy.zeros(
(self.maze.getColumns(), self.maze.getRows())),
mask=numpy.zeros((self.maze.getColumns(),
self.maze.getRows())))
# Iterate over all states and compute the value of the observed function
dimensions = [
self.stateSpace[dimName] for dimName in ["column", "row"]
]
for column in range(self.maze.getColumns()):
for row in range(self.maze.getRows()):
# Create state object
state = State((column, row), dimensions)
# Evaluate function for this state
if isinstance(self.functionObservable,
FunctionOverStateSpaceObservable):
functionValue = self.evalFunction(state)
else: # StateActionValuesObservable
# Determine chosen option first
selectedOption = None
for option in self.actions:
selectedOptionName = str(
self.suboptionComboBox.currentText())
if str(option) == selectedOptionName:
selectedOption = option
break
assert selectedOption is not None
functionValue = self.evalFunction(state, option)
# Map function value onto color value
if discreteFunction:
# Deal with situations where the function is only defined over
# part of the state space
if functionValue == None or functionValue in [
numpy.nan, numpy.inf, -numpy.inf
]:
continue
# Determine color value for function value
if not functionValue in self.colorMapping:
# Choose value for function value that occurrs for the
# first time
self.colorMapping[functionValue] = self.colors.next()
patch = self.maze.plotSquare(
self.axis, (column, row),
self.colorMapping[functionValue])
self.plottedPatches.append(patch[0])
else:
# Remember values since we have to know the min and max value
# before we can plot
values[column, row] = functionValue
if functionValue == None or functionValue in [
numpy.nan, numpy.inf, -numpy.inf
]:
values.mask[column, row] = True
# Do the actual plotting for functions with continuous values
if not discreteFunction:
minValue = values.min()
maxValue = values.max()
for column in range(self.maze.getColumns()):
for row in range(self.maze.getRows()):
if values.mask[column, row]: continue
value = (values[column, row] - minValue) / (maxValue -
minValue)
patch = self.maze.plotSquare(self.axis, (column, row),
cmap(value),
zorder=0)
self.plottedPatches.append(patch[0])
# Set limits
self.axis.set_xlim(0, len(self.maze.structure[0]) - 1)
self.axis.set_ylim(0, len(self.maze.structure) - 1)
# Update legend
self.legendWidget.clear()
if discreteFunction:
for functionValue, colorValue in self.colorMapping.items():
if isinstance(functionValue, tuple):
functionValue = functionValue[0] # deal with '(action,)'
rgbaColor = matplotlib.colors.ColorConverter().to_rgba(
colorValue)
item = QtGui.QListWidgetItem(str(functionValue),
self.legendWidget)
color = QtGui.QColor(int(rgbaColor[0] * 255),
int(rgbaColor[1] * 255),
int(rgbaColor[2] * 255))
item.setTextColor(color)
self.legendWidget.addItem(item)
else:
for value in numpy.linspace(values.min(), values.max(), 10):
rgbaColor = cmap(
(value - values.min()) / (values.max() - values.min()))
item = QtGui.QListWidgetItem(str(value), self.legendWidget)
color = QtGui.QColor(int(rgbaColor[0] * 255),
int(rgbaColor[1] * 255),
int(rgbaColor[2] * 255))
item.setTextColor(color)
self.legendWidget.addItem(item)
self.canvas.draw()
self.lock.release()
def plot(self,
function,
actions,
fig,
stateSpace,
plotStateDims=None,
plotActions=None,
rasterPoints=100):
""" Plots the q-Function for the case of a 2-dim subspace of the state space.
plotStateDims :The 2 dims that should be plotted
plotActions : The action that should be plotted
rasterPoints : How many raster points per dimension
"""
# All actions that should be plotted
if plotActions == None:
plotActions = actions
else:
# Check if plot actions are valid actions
for i in range(len(plotActions)):
if plotActions[i] in actions: continue # ok...
try:
plotActions[i] = eval(plotActions[i])
except:
raise Exception("Invalid plot action %s" % plotActions[i])
# Determine the indices of the dimension that should be plotted
if plotStateDims == None or plotStateDims == []:
if len(stateSpace.items()) != 2:
warnings.warn("%s: Not two state space dimensions."
"Please specify plotStateDims explicitly. " %
self.__class__.__name__)
return
plotStateDims = [stateSpace.keys()[0], stateSpace.keys()[1]]
elif len(plotStateDims) != 2:
warnings.warn(
"%s: StateActionValuesObservable logging only defined when "
"2 plotStateDims are explicitly specified." %
self.__class__.__name__)
return
# Prepare plotting
fig.subplots_adjust(left=0.05,
right=0.95,
bottom=0.05,
top=0.95,
wspace=0.1,
hspace=0.2)
# Different plotting for discrete and continuous dimensions
if stateSpace.hasContinuousDimensions():
# Generate 2d state slice
defaultDimValues = {}
for dimensionName in stateSpace.keys():
defaultDimValues[dimensionName] = 0.5
stateSlice = generate2dStateSlice(plotStateDims,
stateSpace,
defaultDimValues,
gridNodesPerDim=rasterPoints)
rows = int(math.ceil(len(plotActions) / 2.0))
data = dict()
# determine absolute min and max to align subplots colormaps
# initialized that will be exceeded in any case by the corresponding comparison
absmin = float('inf')
absmax = -float('inf')
# For all actions that should be plotted
for plotNum, action in enumerate(plotActions):
# Compute values that should be plotted, colormapping == {} in continuous case
values, colorMapping = \
generate2dPlotArray(lambda state : function(state, action),
stateSlice, True,
shape=(rasterPoints, rasterPoints))
# Check if there is something to plot
if values.mask.all():
continue
# some comparison for colormap alignment
thismin = values.min()
if thismin < absmin:
absmin = thismin
thismax = values.max()
if thismax > absmax:
absmax = thismax
# save the data to plot later, when ranges are known
data[(plotNum, action)] = values.T
# plot the data
for plotNum, action in data.keys():
# add subplot
subplot = fig.add_subplot(rows, 2, plotNum + 1)
subplot.clear()
# create pseudocolorplot in current subplot
polyCollection = fig.gca().pcolor(
numpy.linspace(0.0, 1.0, rasterPoints),
numpy.linspace(0.0, 1.0, rasterPoints),
data[(plotNum, action)],
vmin=absmin,
vmax=absmax)
# Add colorbar
fig.colorbar(polyCollection)
# Labeling etc.
subplot.set_xlim(0, 1)
subplot.set_ylim(0, 1)
subplot.set_xlabel(plotStateDims[0])
subplot.set_ylabel(plotStateDims[1])
subplot.set_title(action)
else:
assert (len(stateSpace.items()) == 2), \
"Discrete state spaces can only be plotted if they have two dimensions."
valuesX = stateSpace[plotStateDims[0]]["dimensionValues"]
valuesY = stateSpace[plotStateDims[1]]["dimensionValues"]
stateSlice = {}
from mmlf.framework.state import State
for i, valueX in enumerate(valuesX):
for j, valueY in enumerate(valuesY):
# Create state object
stateSlice[(i, j)] = State([valueX, valueY], [
stateSpace[plotStateDims[0]],
stateSpace[plotStateDims[1]]
])
rows = int(math.ceil(len(plotActions) / 2.0))
# For all actions that should be plotted
for plotNum, action in enumerate(plotActions):
# Clear old plot
subplot = fig.add_subplot(rows, 2, plotNum + 1)
subplot.clear()
# Compute values that should be plotted
values, colorMapping = \
generate2dPlotArray(lambda state : function(state, action),
stateSlice, True,
shape=(len(valuesX), len(valuesY)))
# Check if there is something to plot
if values.mask.all():
continue
# Do the actual plotting
polyCollection = \
fig.gca().pcolor(numpy.array(valuesX) - 0.5,
numpy.array(valuesY) - 0.5, values.T)
# Add colorbar
fig.colorbar(polyCollection)
# Labeling etc.
subplot.set_xlim(min(valuesX), max(valuesX))
subplot.set_ylim(min(valuesY), max(valuesY))
subplot.set_xlabel(plotStateDims[0])
subplot.set_ylabel(plotStateDims[1])
subplot.set_title(action)
def plot(self,
function,
fig,
stateSpace,
actionSpace,
plotStateDims=None,
rasterPoints=100):
""" Creates a graphical representation of a FunctionOverStateSpace.
Creates a plot of *policy* in the 2D subspace of the state space
spanned by *stateIndex1* and *stateIndex2*.
"""
# Determine the indices of the dimension that should be plotted
if plotStateDims == None or plotStateDims == []:
if len(stateSpace.items()) != 2:
warnings.warn("%s: Not two state space dimensions. "
"Please specify plotStateDims explicitly. " %
self.__class__.__name__)
return
plotStateDims = [stateSpace.keys()[0], stateSpace.keys()[1]]
elif len(plotStateDims) != 2:
warnings.warn(
"%s: FunctionOverStateSpace logging only defined when "
"2 plotStateDims are explicitly specified." %
self.__class__.__name__)
return
# Prepare plotting
fig.subplots_adjust(left=0.05,
right=0.95,
bottom=0.05,
top=0.95,
wspace=0.1,
hspace=0.1)
# Different plotting for discrete and continuous dimensions
if stateSpace.hasContinuousDimensions():
# Generate 2d state slice
defaultDimValues = {}
for dimensionName in stateSpace.keys():
defaultDimValues[dimensionName] = 0.5
stateSlice = generate2dStateSlice(plotStateDims,
stateSpace,
defaultDimValues,
gridNodesPerDim=rasterPoints)
# Compute values that should be plotted
values, colorMapping = \
generate2dPlotArray(function, stateSlice,
not self.discreteValues,
shape=(rasterPoints, rasterPoints))
# Check if there is something to plot
if values.mask.all():
return
# Do the actual plotting
polyCollection = \
fig.gca().pcolor(numpy.linspace(0.0, 1.0, rasterPoints),
numpy.linspace(0.0, 1.0, rasterPoints),
values.T)
# Polishing of figure
fig.gca().set_xlim(0.0, 1.0)
fig.gca().set_ylim(0.0, 1.0)
else:
assert (len(stateSpace.items()) == 2), \
"Discrete state spaces can only be plotted if they have two dimensions."
valuesX = stateSpace[plotStateDims[0]]["dimensionValues"]
valuesY = stateSpace[plotStateDims[1]]["dimensionValues"]
stateSlice = {}
from mmlf.framework.state import State
for i, valueX in enumerate(valuesX):
for j, valueY in enumerate(valuesY):
# Create state object
stateSlice[(i, j)] = State([valueX, valueY], [
stateSpace[plotStateDims[0]],
stateSpace[plotStateDims[1]]
])
# Compute values that should be plotted
values, colorMapping = \
generate2dPlotArray(function, stateSlice,
not self.discreteValues,
shape=(len(valuesX), len(valuesY)))
polyCollection = \
fig.gca().pcolor(numpy.array(valuesX) - 0.5,
numpy.array(valuesY) - 0.5,
values.T)
# Polishing of figure
fig.gca().set_xlim(min(valuesX), max(valuesX))
fig.gca().set_ylim(min(valuesY), max(valuesY))
fig.gca().set_xlabel(plotStateDims[0])
fig.gca().set_ylabel(plotStateDims[1])
# Create legend respective colorbar
if not self.discreteValues:
fig.colorbar(polyCollection)
else:
# Some dummy code that creates patches that are not shown but allow
# for a colorbar
from matplotlib.patches import Rectangle
linearSegmentedColorbar = polyCollection.get_cmap()
patches = []
functionValues = []
for functionValue, colorValue in colorMapping.items():
if isinstance(functionValue, tuple):
functionValue = functionValue[0] # deal with '(action,)'
normValue = polyCollection.norm(colorValue)
if isinstance(normValue, numpy.ndarray):
normValue = normValue[
0] # happens when function is constant
rgbaColor = linearSegmentedColorbar(normValue)
p = Rectangle((0, 0), 1, 1, fc=rgbaColor)
functionValues.append(functionValue)
patches.append(p)
fig.gca().legend(patches, functionValues)