def _backwardImplementation(self, outerr, inerr, outbuf, inbuf):
if self.onesigma:
# algorithm for one global sigma for all mu's
expln_params = expln(self.params)
sumxsquared = dot(self.state, self.state)
self._derivs += (
sum((outbuf - inbuf)**2 - expln_params**2 * sumxsquared) /
expln_params * explnPrime(self.params))
inerr[:] = (outbuf - inbuf)
if not self.autoalpha and sumxsquared != 0:
inerr /= expln_params**2 * sumxsquared
self._derivs /= expln_params**2 * sumxsquared
else:
# Algorithm for seperate sigma for each mu
expln_params = expln(self.params).reshape(len(outbuf),
len(self.state))
explnPrime_params = explnPrime(self.params).reshape(
len(outbuf), len(self.state))
idx = 0
for j in range(len(outbuf)):
sigma_subst2 = dot(self.state**2, expln_params[j, :]**2)
for i in range(len(self.state)):
self._derivs[idx] = ((outbuf[j] - inbuf[j]) ** 2 - sigma_subst2) / sigma_subst2 * \
self.state[i] ** 2 * expln_params[j, i] * explnPrime_params[j, i]
if self.autoalpha and sigma_subst2 != 0:
self._derivs[idx] /= sigma_subst2
idx += 1
inerr[j] = (outbuf[j] - inbuf[j])
if not self.autoalpha and sigma_subst2 != 0:
inerr[j] /= sigma_subst2
def _backwardImplementation(self, outerr, inerr, outbuf, inbuf):
expln_params = expln(self.params)
self._derivs += ((outbuf - inbuf)**2 - expln_params**2) / expln_params * explnPrime(self.params)
inerr[:] = (outbuf - inbuf)
if not self.autoalpha:
inerr /= expln_params**2
self._derivs /= expln_params**2
def _backwardImplementation(self, outerr, inerr, outbuf, inbuf):
expln_params = expln(self.params).reshape(len(outbuf), len(self.state))
explnPrime_params = explnPrime(self.params).reshape(
len(outbuf), len(self.state))
idx = 0
for j in range(len(outbuf)):
sigma_subst2 = dot(self.state**2, expln_params[j, :]**2)
for i in range(len(self.state)):
self._derivs[idx] = ((outbuf[j] - inbuf[j]) ** 2 - sigma_subst2) / sigma_subst2 * \
self.state[i] ** 2 * expln_params[j, i] * explnPrime_params[j, i]
# if self.autoalpha and sigma_subst2 != 0:
# self._derivs[idx] /= sigma_subst2
idx += 1
inerr[j] = (outbuf[j] - inbuf[j])
def __init__(self, statedim, actiondim, sigma=-2.):
Explorer.__init__(self, actiondim, actiondim)
self.statedim = statedim
self.actiondim = actiondim
# initialize parameters to sigma
ParameterContainer.__init__(self, actiondim, stdParams=0)
self.sigma = [sigma] * actiondim
# exploration matrix (linear function)
self.explmatrix = random.normal(0., expln(self.sigma),
(statedim, actiondim))
# store last state
self.state = None
def _forwardImplementation(self, inbuf, outbuf):
if not self.enabled:
outbuf[:] = inbuf
else:
outbuf[:] = random.normal(inbuf, expln(self.params))
def newEpisode(self):
""" Randomize the matrix values for exploration during one episode. """
self.explmatrix = random.normal(0., expln(self.sigma),
self.explmatrix.shape)
def _backwardImplementation(self, outerr, inerr, outbuf, inbuf):
expln_sigma = expln(self.sigma)
self._derivs += ((outbuf - inbuf)**2 -
expln_sigma**2) / expln_sigma * explnPrime(self.sigma)
inerr[:] = (outbuf - inbuf)
def _forwardImplementation(self, inbuf, outbuf):
outbuf[:] = random.normal(inbuf, expln(self.sigma))
def drawRandomWeights(self):
self.module._setParameters(
random.normal(0, expln(self.params), self.module.paramdim))
