def getPrototypeDistribution(i): dist = [] prototype = prototypes[i] for state in range(maxState): tempPrototype = Prototype(numActions, stateDimension) tempPrototype.setFixed([state/float(maxState)], 0) tempFeatureDiff = tempPrototype.calculateDiff(prototype) membershipGrade = float(exp(-(tempFeatureDiff*tempFeatureDiff)/2*prototype.getFeatureWidth())) dist.append(membershipGrade*prototype.getTheta()) return dist
def getV(self, state):
tempPrototype = Prototype(1, self.stateDimension)
tempPrototype.setFixed([state / float(self.maxState + 1)], 0)
thetaSum = 0
pIndex = [0] * self.numGroups
pGrade = self.getPrototypeIndex(state, pIndex)
for i in range(len(pIndex)):
thetaSum += self.prototypes[pIndex[i]].getTheta() * pGrade[i]
return thetaSum
def getV(self, state): tempPrototype = Prototype(1, self.stateDimension) tempPrototype.setFixed([state/float(self.maxState+1)], 0) thetaSum = 0 pIndex = [0]*self.numGroups pGrade = self.getPrototypeIndex(state, pIndex) for i in range(len(pIndex)): thetaSum += self.prototypes[pIndex[i]].getTheta()*pGrade[i] return thetaSum
def getQ(state, action):
tempPrototype = Prototype(numActions, stateDimension)
tempPrototype.setFixed([state/float(maxState)], action)
thetaSum = 0
for prototype in prototypes:
tempFeatureDiff = tempPrototype.calculateDiff(prototype)
membershipGrade = float(exp(-(tempFeatureDiff*tempFeatureDiff)/2*prototype.getFeatureWidth()))
# print('state: ' + str(tempPrototype.state) + ' prototype.state: ' + str(prototype.state) + ' membershipGrade: ' + str(membershipGrade) + ' theta: ' + str(prototype.getTheta()))
# raw_input("Press Enter to continue...")
thetaSum += prototype.getTheta() * membershipGrade
# print('thetaSum: ' + str(thetaSum))
# raw_input("Press Enter to continue...")
return thetaSum
def getPrototypeIndex(self, state, prototypeIndex): tempPrototype = Prototype(1, self.stateDimension) tempPrototype.setFixed([state/float(self.maxState + 1)], 0) pGrade = [0]*self.numGroups for i in range(len(self.prototypes)): prototype = self.prototypes[i] tempFeatureDiff = tempPrototype.calculateDiff(prototype) membershipGrade = float(exp(-(tempFeatureDiff*tempFeatureDiff)/2*prototype.getFeatureWidth()))#/sqrt(2*prototype.getFeatureWidth()*pi) if pGrade[prototype.group] < membershipGrade: prototypeIndex[prototype.group] = i pGrade[prototype.group] = membershipGrade return [p/sum(pGrade) for p in pGrade]
def generatePrototypes(): if isRandom: for i in range(numPrototypes): numDifferent = 0 prototypes.append(Prototype(numActions, stateDimension)) while numDifferent < i: if prototypes[i].isDifferent(prototypes[numDifferent]): numDifferent += 1 else: prototypes[i].setRandomly() numDifferent = 0 else : for i in range(numPrototypes): p = Prototype(numActions, stateDimension) p.setFixed([i/float(numPrototypes+1) ], 0) prototypes.append(p)
def getPrototypeIndex(self, state, prototypeIndex):
tempPrototype = Prototype(1, self.stateDimension)
tempPrototype.setFixed([state / float(self.maxState + 1)], 0)
pGrade = [0] * self.numGroups
for i in range(len(self.prototypes)):
prototype = self.prototypes[i]
tempFeatureDiff = tempPrototype.calculateDiff(prototype)
membershipGrade = float(
exp(-(tempFeatureDiff * tempFeatureDiff) / 2 *
prototype.getFeatureWidth())
) #/sqrt(2*prototype.getFeatureWidth()*pi)
if pGrade[prototype.group] < membershipGrade:
prototypeIndex[prototype.group] = i
pGrade[prototype.group] = membershipGrade
return [p / sum(pGrade) for p in pGrade]
def generatePrototypes(self, isRandom): if isRandom: for i in range(self.numPrototypes): numDifferent = 0 self.prototypes.append(Prototype(1, self.stateDimension)) while numDifferent < i: if self.prototypes[i].isDifferent(self.prototypes[numDifferent]): numDifferent += 1 else: self.prototypes[i].setRandomly() numDifferent = 0 else : for i in range(self.numPrototypes): groupNum = i % self.numGroups p = Prototype(1, self.stateDimension, groupNum) p.setFixed([i/float(self.maxState+1) ], 0) self.prototypes.append(p)
def generatePrototypes(self, isRandom):
if isRandom:
for i in range(self.numPrototypes):
numDifferent = 0
self.prototypes.append(Prototype(1, self.stateDimension))
while numDifferent < i:
if self.prototypes[i].isDifferent(
self.prototypes[numDifferent]):
numDifferent += 1
else:
self.prototypes[i].setRandomly()
numDifferent = 0
else:
for i in range(self.numPrototypes):
groupNum = i % self.numGroups
p = Prototype(1, self.stateDimension, groupNum)
p.setFixed([i / float(self.maxState + 1)], 0)
self.prototypes.append(p)
def learn(state1, action1, reward, state2):
# maxQ = -float('inf')
# for a in range(numActions):
# tempQ = getQ(state2, a)
# if (maxQ < tempQ):
# maxQ = tempQ
### sarsa
maxQ = getQ(state2, 0)
preQ = getQ(state1, action1)
delta = reward + gamma*maxQ - preQ
tempPrototype = Prototype(numActions, stateDimension)
tempPrototype.setFixed([state1/float(maxState)], action1)
for prototype in prototypes:
tempFeatureDiff = tempPrototype.calculateDiff(prototype)
membershipGrade = float(exp(-(tempFeatureDiff*tempFeatureDiff)/2*prototype.getFeatureWidth()))
prototype.setTheta(prototype.getTheta() + alpha * delta * membershipGrade/numPrototypes)
