def __init__(self, module, learner = None):
LearningAgent.__init__(self, module, learner)
# exploration module (linear flat network)
self.explorationmodule = buildNetwork(self.indim, self.outdim, bias=False)
# state dependent exploration layer
self.explorationlayer = StateDependentLayer(self.outdim, self.explorationmodule, 'explore')
# add exploration layer to top of network through identity connection
out = self.module.outmodules.pop()
self.module.addOutputModule(self.explorationlayer)
self.module.addConnection(IdentityConnection(out, self.module['explore'], self.module))
self.module.sortModules()
# tell learner the new module
self.learner.setModule(self.module)
# add the log likelihood (loglh) to the dataset and link it to the others
self.history.addField('loglh', self.module.paramdim)
self.history.link.append('loglh')
self.loglh = None
# if this flag is set to True, random weights are drawn after each reward,
# effectively acting like the vanilla policy gradient alg.
self.actaspg = False
def newEpisode(self):
if self.learning:
params = ravel(self.explorationlayer.module.params)
target = ravel(sum(self.history.getSequence(self.history.getNumSequences()-1)[2]) / 500)
if target != 0.0:
self.gp.addSample(params, target)
if len(self.gp.trainx) > 20:
self.gp.trainx = self.gp.trainx[-20:, :]
self.gp.trainy = self.gp.trainy[-20:]
self.gp.noise = self.gp.noise[-20:]
self.gp._calculate()
# get new parameters where mean was highest
max_cov = diag(self.gp.pred_cov).max()
indices = where(diag(self.gp.pred_cov) == max_cov)[0]
pick = indices[random.randint(len(indices))]
new_param = self.gp.testx[pick]
# check if that one exists already in gp training set
if len(where(self.gp.trainx == new_param)[0]) > 0:
# add some normal noise to it
new_param += random.normal(0, 1, len(new_param))
self.explorationlayer.module._setParameters(new_param)
else:
self.explorationlayer.drawRandomWeights()
# don't call StateDependentAgent.newEpisode() because it randomizes the params
LearningAgent.newEpisode(self)
def getAction(self):
""" activates the module with the last observation and stores the result as last action. """
# get greedy action
action = LearningAgent.getAction(self)
# explore by chance
if random.random() < self.epsilon:
action = array([random.randint(self.module.numActions)])
# reduce epsilon
self.epsilon *= self.epsilondecay
return action
def __init__(self, module, learner = None):
assert isinstance(module, FeedForwardNetwork)
assert len(module.outmodules) == 1
LearningAgent.__init__(self, module, learner)
# create gaussian layer
self.explorationlayer = GaussianLayer(self.outdim, name='gauss')
self.explorationlayer.setSigma([-2] * self.outdim)
# add gaussian layer to top of network through identity connection
out = self.module.outmodules.pop()
self.module.addOutputModule(self.explorationlayer)
self.module.addConnection(IdentityConnection(out, self.module['gauss']))
self.module.sortModules()
# tell learner the new module
self.learner.setModule(self.module)
# add the log likelihood (loglh) to the dataset and link it to the others
self.history.addField('loglh', self.module.paramdim)
self.history.link.append('loglh')
self.loglh = None
def __init__(self, module, learner=None):
assert isinstance(module, FeedForwardNetwork)
assert len(module.outmodules) == 1
LearningAgent.__init__(self, module, learner)
# create gaussian layer
self.explorationlayer = GaussianLayer(self.outdim, name='gauss')
self.explorationlayer.setSigma([-2] * self.outdim)
# add gaussian layer to top of network through identity connection
out = self.module.outmodules.pop()
self.module.addOutputModule(self.explorationlayer)
self.module.addConnection(IdentityConnection(out,
self.module['gauss']))
self.module.sortModules()
# tell learner the new module
self.learner.setModule(self.module)
# add the log likelihood (loglh) to the dataset and link it to the others
self.history.addField('loglh', self.module.paramdim)
self.history.link.append('loglh')
self.loglh = None
def disableLearning(self):
""" deactivate learning """
LearningAgent.disableLearning(self)
self.explorationlayer.enabled = False
def enableLearning(self):
""" activate learning """
LearningAgent.enableLearning(self)
self.explorationlayer.enabled = True
def newEpisode(self):
""" indicates a new episode in the training cycle. """
LearningAgent.newEpisode(self)
self.learner.perturbate()
def __init__(self, indim, outdim):
LearningAgent.__init__(self, buildNetwork(indim, outdim))
def newEpisode(self):
""" indicates a new episode in the training cycle. """
LearningAgent.newEpisode(self)
self.learner.perturbate()
def disableLearning(self):
""" deactivate learning """
LearningAgent.disableLearning(self)
self.explorationlayer.enabled = False
def enableLearning(self):
""" activate learning """
LearningAgent.enableLearning(self)
self.explorationlayer.enabled = True
def __init__(self, indim, outdim):
LearningAgent.__init__(self, buildNetwork(indim, outdim))
def newEpisode(self):
LearningAgent.newEpisode(self)
self.explorationlayer.drawRandomWeights()
def __init__(self, module, learner):
LearningAgent.__init__(self, module, learner)
self.epsilon = 0.5
self.epsilondecay = 0.9999
