def _setup(self, conditions):
""" if agent is discrete in states and actions create Q-Table. """
Agent._setup(self, conditions)
if not (self.conditions['discreteStates'] == False and self.conditions['discreteActions']):
raise AgentException('FQIAgent expects continuous states and discrete actions. Use adapter or a different environment.')
if self.vectorblock:
self.estimator = VectorBlockEstimator(self.conditions['stateDim'], self.conditions['actionNum'], faClass=self.faClass, ordered=self.ordered)
else:
self.estimator = FAEstimator(self.conditions['stateDim'], self.conditions['actionNum'], faClass=self.faClass, ordered=self.ordered)
def _setup(self, conditions):
""" if agent is discrete in states and actions create Q-Table. """
Agent._setup(self, conditions)
if not (self.conditions['discreteStates'] == False and self.conditions['discreteActions'] == False):
raise AgentException('BASAgent expects continuous states and actions. Use adapter or a different environment.')
self.estimator = FAEstimator(self.conditions['stateDim'] + self.conditions['actionDim'], 2**self.conditions['actionDim'], self.faClass)
# change history to store bas-extended experiences
self.history = History(conditions['stateDim']+self.conditions['actionDim'] , 1)
class FQIAgent(Agent):
alpha = 1.0
gamma = 0.9
iterations = 1
presentations = 1
def __init__(self, faClass=Linear, resetFA=True, ordered=False, vectorblock=False):
""" initialize the agent with the estimatorClass. """
Agent.__init__(self)
self.faClass = faClass
self.resetFA = resetFA
self.ordered = ordered
self.vectorblock = vectorblock
def _setup(self, conditions):
""" if agent is discrete in states and actions create Q-Table. """
Agent._setup(self, conditions)
if not (self.conditions['discreteStates'] == False and self.conditions['discreteActions']):
raise AgentException('FQIAgent expects continuous states and discrete actions. Use adapter or a different environment.')
if self.vectorblock:
self.estimator = VectorBlockEstimator(self.conditions['stateDim'], self.conditions['actionNum'], faClass=self.faClass, ordered=self.ordered)
else:
self.estimator = FAEstimator(self.conditions['stateDim'], self.conditions['actionNum'], faClass=self.faClass, ordered=self.ordered)
def _calculate(self):
self.action = self.estimator.getBestAction(self.state)
def newEpisode(self):
""" reset the memory. """
Agent.newEpisode(self)
if self.ordered:
self.estimator.resetMemory()
def giveReward(self, reward):
""" additionally remember the chosen action to not draw it again. """
if self.ordered:
self.estimator.rememberAction(self.action)
Agent.giveReward(self, reward)
def buildMemoryFromEpisode(self, episode):
""" builds the memory for already executed actions from the current
episode. this is necessary if the episode was appended without
actually being executed via the experiments interact() method.
"""
if self.ordered:
for a in episode.actions:
self.estimator.rememberAction(a)
def learn(self):
""" go through whole episode and make Q-value updates. """
for i in range(self.iterations):
dataset = []
for episode in self.history:
if self.ordered:
self.estimator.resetMemory()
for state, action, reward, nextstate in episode:
qvalue = self.estimator.getValue(state, action)
if self.ordered:
self.estimator.rememberAction(action)
if nextstate != None:
bestnext = self.estimator.getValue(nextstate, self.estimator.getBestAction(nextstate))
else:
bestnext = 0.
target = (1-self.alpha) * qvalue + self.alpha * (reward + self.gamma * bestnext)
dataset.append([state, action, target])
if len(dataset) == 0:
continue
# ground targets to 0 to avoid drifting values
mintarget = min(map(itemgetter(2), dataset))
# reset estimator (not resetting might lead to faster convergence!)
if self.resetFA:
self.estimator.reset()
for i in range(self.presentations):
shuffle(dataset)
for state, action, target in dataset:
self.estimator.updateValue(state, action, target-mintarget)
self.estimator.train()
class BASAgent(Agent):
alpha = 1.0
gamma = 0.9
def __init__(self, faClass=Linear):
""" initialize the agent with the estimatorClass. """
Agent.__init__(self)
self.amin = -1.
self.amax = 1.
self.nres = 3
# store (decision,action) tuples for one action in the list
self.decisions = []
self.faClass = faClass
def _setup(self, conditions):
""" if agent is discrete in states and actions create Q-Table. """
Agent._setup(self, conditions)
if not (self.conditions['discreteStates'] == False and self.conditions['discreteActions'] == False):
raise AgentException('BASAgent expects continuous states and actions. Use adapter or a different environment.')
self.estimator = FAEstimator(self.conditions['stateDim'] + self.conditions['actionDim'], 2**self.conditions['actionDim'], self.faClass)
# change history to store bas-extended experiences
self.history = History(conditions['stateDim']+self.conditions['actionDim'] , 1)
def giveReward(self, reward):
""" override function to store the internal actions in the history. """
if self.progressCnt == 2:
self.reward = reward
self.progressCnt = 0
if self.loggingEnabled:
# go through internal decisions and transform them to states, actions, rewards
olda = array([(self.amax + self.amin) / 2.]*self.conditions['actionDim'])
for i, (d,a) in enumerate(self.decisions):
state = r_[self.state, olda]
action = d
if i < self.nres-1:
reward = 0.
else:
reward = self.reward
self.history.append(state, action, reward)
olda = a
else:
raise AgentException('reward was given before action was returned.')
def _internalDecisions(self, state):
""" takes a state and queries the estimator several times as a binary search.
generates (binary) decision and action at each timestep. """
self.decisions = []
a = array([(self.amax + self.amin) / 2.]*self.conditions['actionDim'])
delta = (self.amax - self.amin) * float(2**(self.nres-1)) / (2**self.nres -1)
for i in range(self.nres):
delta = delta/2.
decision = self.estimator.getBestAction(r_[self.state, a])
# internal epsilon-greedy exploration
if random.random() < 0.1:
decision = array([random.randint(2**self.conditions['actionDim'])])
# turn into binary list
blist = -1.*ones(self.conditions['actionDim'])
for i,bit in enumerate(reversed(bin(decision)[2:])):
if bit == '1':
blist[-i-1] = 1.
# update action
a = a + delta*blist
self.decisions.append((decision, a))
return a
def _calculate(self):
""" Return the action with the maximal value for the given state. """
self.action = self._internalDecisions(self.state)
def learn(self):
""" go through whole episode and make Q-value updates. """
for i in range(1):
self.estimator.reset()
for episode in self.history:
for state, action, reward, nextstate in episode:
# # don't consider last state
# if equal(state, nextstate).all():
# break
qvalue = self.estimator.getValue(state, action)
bestnext = self.estimator.getValue(nextstate, self.estimator.getBestAction(nextstate))
target = (1-self.alpha) * qvalue + self.alpha * (reward + self.gamma * bestnext)
self.estimator.updateValue(state, action, target)
self.estimator.train()
def __init__(self, stateDim, actionNum, faClass=Linear, ordered=False):
self.fa = None
FAEstimator.__init__(self, stateDim, actionNum, faClass, ordered)