def looping(qt=None, epsilon=config.epsilon, visu=False):
plt.ion()
cart = CartPoleEnv()
data = []
data_rm = []
if (qt is None):
qt = initialize_Qtable()
for episode in range(config.episodes):
cart.reset()
turn = 0
end = False
epsilon = epsilon * 0.9999
while not end:
current_state = cart.state
action = choose_action(current_state, qt, epsilon)
new_state, reward, end, _ = cart.step(action)
if end:
reward = -10
update_qt_new(qt, current_state, reward, action, new_state)
turn += 1
if (visu):
cart.render()
data.append(turn)
data_rm.append(np.mean(data[-100:]))
print("Episode: ", episode, "\tTurn:", turn, "\t Epsilon:", epsilon)
if episode % config.graph_update == 0 and episode != 0:
graph(data, data_rm)
# if ((episode + 1) % 100 == 0 and input("continue (y/n)" != "y")):
# break
cart.close()
return (data, qt)
def loop(qt=None, epsilon=1, visu=False):
plt.ion()
cart = CartPoleEnv()
data = []
data_rm = []
config.epsilon = epsilon
if (qt is None):
qt = initialize_Qtable()
for episode in range(config.episodes):
cart.reset()
turn = 0
s = cart.state
end = False
epsilon_tmp = config.epsilon
while not end:
config.epsilon *= 0.97
if (visu):
cart.render()
a = choose_action(s, qt)
_, _, end, _ = cart.step(a)
l_val = bellman_q(s, qt, dummy_cart(s), action=a)
# print(l_val)
update_qt(qt, s, a, l_val)
s = cart.state
turn += 1
data.append(turn)
data_rm.append(np.mean(data[-100:]))
print("Episode: ", episode, "\tTurn:", turn, "\t Epsilon:",
config.epsilon)
config.epsilon = epsilon_tmp
if episode % config.graph_update == 0 and episode != 0:
graph(data, data_rm)
# if ((episode + 1) % 100 == 0 and input("continue (y/n)" != "y")):
# break
cart.close()
return (data, qt)
from cartpole import CartPoleEnv
import numpy as np
cart = CartPoleEnv()
cart.reset()
for _ in range(1000):
# Calculate the Gradients
# Update Thetas
# Sample u trajectory
# Apply u[0] to the actual system
cart.step(10) # Apply Some force
# Update the New State in the Learner
# Shift the Thetas
# Simulate
cart.render()
cart.close()
if done:
print('Episode {} ended after {} time steps, eps = {:.2}.'.
format(episode, t, agent.epsilon))
episode_data.append(episode)
score_data.append(t)
break
agent.replay()
# agent.save_model('bot.h5')
# Performance
for episode in range(30):
state = env.reset()
state = np.reshape(state, [1, 4])
agent.epsilon = 0
for t in range(1000):
env.render()
action, force = agent.act(state)
if force == 2:
env.force_mag = 6
elif force == 3:
env.force_mag = 8
else:
env.force_mag = 10
state_, reward, done, info = env.step(action)
state_ = np.reshape(state_, [1, 4])
state = state_
if done or t == 1000:
episode_data_.append(episode)
score_data_.append(t)
print('Trial {} ended with score {}'.format(episode, t))
class CuteLearning():
def __init__(self):
self.plot_data = PlotData()
self.cart = CartPoleEnv()
self.cart.reset()
self.predi_net = DQN()
self.updat_net = deepcopy(self.predi_net)
self.turn = 0
self.epidode = 0
self.epsilon = config.epsilon
self.eps_decay = 0.99
self.visu = False
self.visu_update = False #300
self.visu_window = 5
self.consecutive_wins = 0
self.best_consecutive_wins = 0
self.last_save = 0
self.memory = []
def reward_optimisation(self, state, end):
reward = -25 if end else 1
if reward == 1:
# Angle reward modification
angle_r = 0.418 / 2
reward += (((abs(angle_r - abs(state[2])) / angle_r) * 2) - 1) * 2
# Position reward modification
pos_r = 0.418 / 2
reward += (((abs(pos_r - abs(state[0])) / pos_r) * 2) - 1) * 2
return reward
def learn(self):
self.episode = 0
n = 0
while self.episode < 10:
self.turn = 0
end = False
states = []
targets = []
while not end:
# 1. Init
state = self.cart.state
# 2. Choose action
q_values = self.predi_net.predict(state).tolist()
a = choose_action_net(q_values, self.epsilon)
# 3. Perform action
next_state, _, end, _ = self.cart.step(a)
# 4. Measure reward
reward = self.reward_optimisation(next_state, end)
q_values_next = self.predi_net.predict(next_state)
# 5. Calcul Q-Values
q_values[a] = reward + net_config.gamma * \
torch.max(q_values_next).item()
self.turn += 1
self.memory.append((state, a, next_state, reward, end))
# self.updat_net.update(state, q_values)
states.append(state)
targets.append(q_values)
if (self.turn % 20 and self.turn) or end:
self.updat_net.update(states, targets)
states = []
targets = []
if self.turn >= 500:
end = True
if self.visu:
self.cart.render()
self.episode += 1
self.replay(20)
if self.episode % net_config.n_update == 0 and self.episode:
print("Update")
self.predi_net.model.load_state_dict(
self.updat_net.model.state_dict())
self.end()
n += 1
self.save()
self.cart.close()
self.plot_data.clear()
def replay(self, size):
if size > len(self.memory):
size = len(self.memory)
data = random.sample(self.memory, size)
states = []
targets = []
for state, action, next_state, reward, done in data:
q_values = self.predi_net.predict(state)
if done:
q_values[action] = reward
else:
# The only difference between the simple replay is in this line
# It ensures that next q values are predicted with the target network.
q_values_next = self.predi_net.predict(next_state)
q_values[action] = reward + net_config.gamma * torch.max(
q_values_next).item()
states.append(state)
targets.append(q_values)
self.updat_net.update(state, q_values)
def end(self):
self.plot_data.new_data(self.turn)
if self.turn > 195:
self.consecutive_wins += 1
if self.best_consecutive_wins < self.consecutive_wins:
self.best_consecutive_wins = self.consecutive_wins
if self.consecutive_wins > 200:
self.save()
print(("WIN IN " + str(self.episode) + " EPISODES\n") * 100)
else:
self.consecutive_wins = 0
if self.last_save * 1.2 < self.best_consecutive_wins and 50 <= self.best_consecutive_wins:
self.save()
self.last_save = self.best_consecutive_wins
print("Episode: ", self.episode, "\tTurn:", self.turn, "\tEpsilon:",
self.epsilon, "\tWins: ", "{:3}".format(self.consecutive_wins),
"/", self.best_consecutive_wins)
self.turn = 0
self.cart.reset()
if self.episode % config.graph_update == 0 and self.episode != 0:
self.plot_data.graph()
if self.visu_update:
if self.episode % self.visu_update == 0:
self.visu = True
if self.episode % self.visu_update == self.visu_window:
self.visu = False
self.cart.close()
self.epsilon = max(self.epsilon * self.eps_decay, 0.01)
def save(self):
pass
