public double Train(Vector p_state0, int p_action0, Vector p_state1, float p_reward, bool p_final = false)
{
float mse = 0;
float maxQs1a = CalcMaxQa(p_state1);
// updating phase for Q(s,a)
_networkQ.Activate(p_state0);
Vector target = Vector.Copy(_networkQ.Output);
if (p_final)
{
target[p_action0] = p_reward;
}
else
{
target[p_action0] = p_reward + _gamma * maxQs1a;
}
mse = _optimizer.Train(p_state0, target);
Vector.Release(target);
_asyncUnit.Update(p_final);
if (_asyncUnit.IsAsyncReady)
{
_optimizer.AsyncUpdate();
}
return(mse);
}
public float Train(Vector p_state0, int p_action0, Vector p_state1, float p_reward, bool p_final = false)
{
float mse = 0;
if (_replayBuffer.Count == _replayBufferCapacity)
{
ReplayBufferElem e = _replayBuffer.Dequeue();
Vector.Release(e.S0);
Vector.Release(e.S1);
}
_replayBuffer.Enqueue(new ReplayBufferElem {
S0 = Vector.Copy(p_state0), S1 = Vector.Copy(p_state1), Action = p_action0, Reward = p_reward, Final = p_final
});
if (_replayBuffer.Count >= _batchSize && _batchIndex == _batchSize)
{
_batchIndex = 0;
_sample = _replayBuffer.OrderBy(x => _rnd.Next()).Take(_batchSize);
int i = 0;
Stopwatch watch = Stopwatch.StartNew();
foreach (ReplayBufferElem b in _sample)
{
Vector t = CalcTarget(b.S0, b.S1, b.Action, b.Reward, b.Final);
_optimizer.Train(b.S0, t);
Vector.Release(t);
i++;
}
watch.Stop();
#if !DEBUG
Console.WriteLine("Training time [ms] " + watch.ElapsedMilliseconds);
#endif
}
_batchIndex++;
if (_qtUpdateIndex == _qtUpdateSize)
{
_qtUpdateIndex = 0;
_QTnetwork.OverrideParams(_Qnetwork);
}
_qtUpdateIndex++;
return(mse);
}
override public double Train(Vector p_state0, int p_action, Vector p_state1, float p_reward, bool p_final)
{
double mse = 0;
_stack.Push(new StackItem {
State = Vector.Copy(p_state0), Action = p_action, Reward = p_reward
});
_asyncUnit.Update(p_final);
if (_asyncUnit.IsAsyncReady)
{
int criticOutput = _thNetwork.Output.Size - 1;
float value1 = _thNetwork.Activate(p_state1)[criticOutput];
float R = p_final ? 0f : value1;
while (_stack.Count > 0)
{
StackItem item = (StackItem)_stack.Pop();
R = item.Reward + _gamma * R;
Vector target = Vector.Copy(_thNetwork.Activate(item.State));
float value0 = _thNetwork.Activate(p_state0)[criticOutput];
target[p_action] = R - value0;
target[criticOutput] = R;
mse += _thOptimizer.Train(item.State, target);
Vector.Release(item.State);
Vector.Release(target);
}
_optimizer.AsyncUpdate(_thOptimizer);
_thNetwork.OverrideParams(_network);
}
return(mse);
}
virtual public double Train(Vector p_state0, int p_action, Vector p_state1, float p_reward, bool p_final)
{
double mse = 0;
int criticOutput = _network.Output.Size - 1;
_network.Activate(p_state1);
float value1 = _network.Output[criticOutput];
_network.Activate(p_state0);
float value0 = _network.Output[criticOutput];
Vector target = Vector.Copy(_network.Output);
target[p_action] = p_reward + _gamma * value1 - value0;
target[criticOutput] = p_reward + _gamma * value1;
mse = _optimizer.Train(p_state0, target);
Vector.Release(target);
return(mse);
}
public double Train(Vector p_state0, int p_action0, Vector p_state1, float p_reward, bool final = false)
{
float mse = 0;
float maxQs1a = CalcMaxQa(p_state1);
// updating phase for Q(s,a)
_network.Activate(p_state0);
Vector target = _network.Output;
if (final)
{
target[p_action0] = p_reward;
}
else
{
target[p_action0] = p_reward + _gamma * maxQs1a;
}
mse = _optimizer.Train(p_state0, target);
return(mse);
}
