def REINFORCE(env, alpha, gamma, n_episodes):
policy = ExponentialSoftmax(env.observation_space_size *
env.action_space_size)
for episode in range(n_episodes):
done = False
obs = env.reset()
all_sa_pairs = [encode_sa_pair(obs, a, env.observation_space_size, \
env.action_space_size) for a in range(env.action_space_size)]
a = policy.sample_action(all_sa_pairs)
states = [obs]
actions = [a]
rewards = [None]
while not done:
obs, reward, done = env.step(a)
all_sa_pairs = [encode_sa_pair(obs, a, env.observation_space_size, \
env.action_space_size) for a in range(env.action_space_size)]
a = policy.sample_action(all_sa_pairs)
states.append(obs)
actions.append(a)
rewards.append(reward)
for t in range(len(states)):
G_t = sum(rewards[t + 1:])
all_sa_pairs = [encode_sa_pair(states[t], a, env.observation_space_size, \
env.action_space_size) for a in range(env.action_space_size)]
policy.weights += alpha * (gamma ** t) * G_t * \
policy.eligibility_vector(actions[t], all_sa_pairs)
if episode % 100 == 0:
print_episode(episode, n_episodes)
print_episode(n_episodes, n_episodes)
return policy
def one_step_actor_critic(env, alpha_th, alpha_w, gamma, n_episodes):
policy = ExponentialSoftmax(env.observation_space_size*env.action_space_size)
v = LinearValueFunction(env.observation_space_size)
for episode in range(n_episodes):
done = False
obs = env.reset()
obs_vec = encode_state(obs, env.observation_space_size)
I = 1
while not done:
sa_pairs = [encode_sa_pair(obs, a, env.observation_space_size, \
env.action_space_size) for a in range(env.action_space_size)]
a = policy.sample_action(sa_pairs)
obs_prime, reward, done = env.step(a)
obs_prime_vec = encode_state(obs_prime, env.observation_space_size)
delta = reward + gamma * v.evaluate(obs_prime_vec) - v.evaluate(obs_vec)
v.weights += alpha_w * I * delta * obs_vec
policy.weights += alpha_th * I * delta * policy.eligibility_vector(a,
sa_pairs)
I *= I
obs_vec = obs_prime_vec
obs = obs_prime
print_episode(episode, n_episodes)
print_episode(n_episodes, n_episodes)
return policy
def actor_critic_eligibility_traces(env, eta, alpha_th, alpha_w, lambda_th, lambda_w, \
gamma, n_episodes):
policy = ExponentialSoftmax(env.observation_space_size *
env.action_space_size)
v = LinearValueFunction(env.observation_space_size)
z_th = np.zeros(env.observation_space_size * env.action_space_size)
z_w = np.zeros(env.observation_space_size)
R_bar = 0
for episode in range(n_episodes):
done = False
obs = env.reset()
obs_vec = encode_state(obs, env.observation_space_size)
while not done:
sa_pairs = [encode_sa_pair(obs, a, env.observation_space_size, \
env.action_space_size) for a in range(env.action_space_size)]
a = policy.sample_action(sa_pairs)
obs_prime, reward, done = env.step(a)
obs_prime_vec = encode_state(obs_prime, env.observation_space_size)
delta = reward - R_bar + v.evaluate(obs_prime_vec) - v.evaluate(
obs_vec)
R_bar += eta * delta
z_w = lambda_w * z_w + obs_vec
z_th = lambda_th * z_th + policy.eligibility_vector(a, sa_pairs)
v.weights += alpha_w * delta * z_w
policy.weights += alpha_th * delta * z_th
obs_vec = obs_prime_vec
obs = obs_prime
print_episode(episode, n_episodes)
print_episode(n_episodes, n_episodes)
return policy
def sarsa_lambda(env, lamda, alpha, gamma, epsilon, n_episodes):
# Initialize state-action value function.
q = LinearPolicy(env.observation_space_size * env.action_space_size, 0, \
env.action_space_size)
for episode in range(n_episodes):
done = False
obs = env.reset()
action = eps_greedy_policy_bin_features(q, obs, epsilon, \
env.observation_space_size, env.action_space_size)
z = np.zeros(env.observation_space_size * env.action_space_size)
while not done:
obs_prime, reward, done = env.step(action)
delta = reward
sa_vec = encode_sa_pair(obs, action, env.observation_space_size, \
env.action_space_size)
idx_active = np.argwhere(sa_vec == 1)
delta -= np.sum(q.weights[idx_active])
# Accumulating traces.
z[idx_active] += 1
if done:
# Update weights.
q.weights += alpha * delta * z
else:
action_prime = eps_greedy_policy_bin_features(q, obs_prime, epsilon, \
env.observation_space_size, env.action_space_size)
sa_prime_vec = encode_sa_pair(obs_prime, action_prime, \
env.observation_space_size, env.action_space_size)
idx_active = np.argwhere(sa_prime_vec == 1)
delta += gamma * np.sum(q.weights[idx_active])
# Update weights.
q.weights += alpha * delta * z
# Update accumulating traces.
z = gamma * lamda * z
obs = obs_prime
action = action_prime
if episode % 100 == 0:
print_episode(episode, n_episodes)
print_episode(n_episodes, n_episodes)
return q
def REINFORCE_baseline(env, alpha_th, alpha_w, gamma, n_episodes):
policy = ExponentialSoftmax(env.observation_space_size *
env.action_space_size)
v = LinearValueFunction(env.observation_space_size)
returns = []
for episode in range(n_episodes):
done = False
obs = env.reset()
all_sa_pairs = [encode_sa_pair(obs, a, env.observation_space_size, \
env.action_space_size) for a in range(env.action_space_size)]
a = policy.sample_action(all_sa_pairs)
states = [obs]
actions = [a]
rewards = [None]
while not done:
obs, reward, done = env.step(a)
all_sa_pairs = [encode_sa_pair(obs, a, env.observation_space_size, \
env.action_space_size) for a in range(env.action_space_size)]
a = policy.sample_action(all_sa_pairs)
states.append(obs)
actions.append(a)
rewards.append(reward)
for t in range(len(states)):
G_t = sum(rewards[t + 1:])
x_t = encode_state(states[t], env.observation_space_size)
delta = G_t - v.evaluate(x_t)
v.weights += alpha_w * (gamma**t) * delta * x_t
all_sa_pairs = [encode_sa_pair(states[t], a, env.observation_space_size, \
env.action_space_size) for a in range(env.action_space_size)]
policy.weights += alpha_th * (gamma ** t) * G_t * delta * \
policy.eligibility_vector(actions[t], all_sa_pairs)
returns.append(sum(rewards[1:]))
print_episode(episode, n_episodes)
print_episode(n_episodes, n_episodes)
return (policy, np.array(returns))
def online_sarsa_lambda(env, lamda, alpha, gamma, epsilon, n_episodes):
# Initialize state-action value function.
q = LinearPolicy(env.observation_space_size * env.action_space_size, 0,
env.action_space_size)
for episode in range(n_episodes):
done = False
obs = env.reset()
a = eps_greedy_policy_bin_features(q, obs, epsilon, env.observation_space_size, \
env.action_space_size)
x = encode_sa_pair(obs, a, env.observation_space_size,
env.action_space_size)
z = np.zeros(env.observation_space_size * env.action_space_size)
Q_old = 0
while not done:
obs_prime, reward, done = env.step(a)
a_prime = eps_greedy_policy_bin_features(q, obs_prime, epsilon, \
env.observation_space_size, env.action_space_size)
x_prime = encode_sa_pair(obs_prime, a_prime, env.observation_space_size, \
env.action_space_size)
Q = q.evaluate(x)
Q_prime = q.evaluate(x_prime)
delta = reward + gamma * Q_prime - Q
# Update eligibility traces.
z = gamma * lamda * z + (1 -
alpha * gamma * lamda * np.dot(z, x)) * x
# Update weights.
q.weights += alpha * (delta + Q - Q_old) * z - alpha * (Q -
Q_old) * x
Q_old = Q
x = x_prime
a = a_prime
if episode % 100 == 0:
print_episode(episode, n_episodes)
print_episode(n_episodes, n_episodes)
return q
def test_policy(env, policy, n_tests):
# MOve this function.
import time
input('Press any key to begin tests.')
for i in range(n_tests):
done = False
obs = env.reset()
env.render()
time.sleep(0.3)
while not done:
all_sa_pairs = [encode_sa_pair(obs, a, env.observation_space_size, \
env.action_space_size) for a in range(env.action_space_size)]
a = policy.greedy_action(all_sa_pairs)
obs, _, done = env.step(a)
env.render()
time.sleep(0.3)
