def vIteration(world, userMap, maxX, maxY, discount=0.99, MAX_ITERATIONS=100): gen = BasicGridWorld(userMap, maxX, maxY) domain = gen.generateDomain() initialState = gen.getExampleState(domain); rf = BasicRewardFunction(maxX, maxY, userMap) tf = BasicTerminalFunction(maxX, maxY) env = SimulatedEnvironment(domain, rf, tf, initialState) visualizeInitialGridWorld(domain, gen, env) hashingFactory = SimpleHashableStateFactory() timing = defaultdict(list) rewards = defaultdict(list) steps = defaultdict(list) convergence = defaultdict(list) allStates = getAllStates(domain, rf, tf, initialState) print("*** {} Value Iteration Analysis".format(world)) MAX_ITERATIONS = MAX_ITERATIONS iterations = range(1, MAX_ITERATIONS + 1) vi = ValueIteration(domain, rf, tf, discount, hashingFactory, -1, 1); vi.setDebugCode(0) vi.performReachabilityFrom(initialState) vi.toggleUseCachedTransitionDynamics(False) timing['Value'].append(0) for nIter in iterations: startTime = clock() vi.runVI() p = vi.planFromState(initialState); endTime = clock() timing['Value'].append((endTime-startTime)*1000) convergence['Value'].append(vi.latestDelta) # evaluate the policy with evalTrials roll outs runEvals(initialState, p, rewards['Value'], steps['Value'], rf, tf, evalTrials=1) if nIter == 1 or nIter == 50: simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory, "Value Iteration {}".format(nIter)) simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory, "Value Iteration {}".format(nIter)) dumpPolicyMap(MapPrinter.printPolicyMap(allStates, p, gen.getMap()), world + ' Value Iteration Policy Map.pkl') dumpCSV(nIter, timing['Value'][1:], rewards['Value'], steps['Value'], convergence['Value'], world, 'Value')
allStates = getAllStates(domain, rf, tf, initialState) # Value Iteration iterations = range(1, MAX_ITERATIONS + 1) vi = ValueIteration(domain, rf, tf, discount, hashingFactory, -1, 1) vi.setDebugCode(0) vi.performReachabilityFrom(initialState) vi.toggleUseCachedTransitionDynamics(False) print "//{} Value Iteration Analysis//".format(world) flag = True timing['Value'].append(0) for nIter in iterations: startTime = clock() vi.runVI() #timing['Value'].append((clock()-startTime) * 1000) timing['Value'].append(timing['Value'][-1] + clock() - startTime) p = vi.planFromState(initialState) convergence['Value'].append(vi.latestDelta) # evaluate the policy with evalTrials roll outs runEvals(initialState, p, rewards['Value'], steps['Value']) #if nIter == 1: #simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory, "Value Iteration {}".format(nIter)) if (vi.latestDelta < 1e-6) and flag: flag = False simpleValueFunctionVis(vi, p, initialState, domain, hashingFactory, "Value Iteration {}".format(nIter)) dumpPolicyMap( MapPrinter.printPolicyMap(allStates, p, gen.getMap()), 'Value {} Iter {} Policy Map.pkl'.format(world, nIter)) # if vi.latestDelta <1e-6: # break print "\n\n\n"