/// <summary>
/// 生成可以测试的动作计划集：从动作记忆中找到的行动计划，加上新补充的一些
/// </summary>
/// <param name="plans">从动作记忆中找到的行动计划</param>
/// <param name="time"></param>
/// <returns></returns>
private List <ActionPlan> checkActionPlansFull(List <ActionPlan> plans, int time)
{
if (plans == null)
{
plans = new List <ActionPlan>();
}
List <List <double> > actionSets = CreateTestActionSet(Session.instinctActionHandler(net, time));
ActionPlan[] r = new ActionPlan[actionSets.Count];
for (int i = 0; i < actionSets.Count; i++)
{
ActionPlan plan = plans.FirstOrDefault(p => p.Equals(actionSets[i]));
if (plan == null)
{
String judgeType = ActionPlan.JUDGE_INFERENCE;
if (i == 0)
{
judgeType = ActionPlan.JUDGE_INSTINCT;
}
else if (actionSets[i][0] == 0.5)
{
judgeType = ActionPlan.JUDGE_MAINTAIN;
}
plan = ActionPlan.CreateActionPlan(net, actionSets[i], time, judgeType, "", 0);
}
r[i] = plan;
}
return(r.ToList());
}
/// <summary>
/// 生成可以测试的动作计划集：从动作记忆中找到的行动计划，加上新补充的一些
/// </summary>
/// <param name="plans">从动作记忆中找到的行动计划</param>
/// <param name="time"></param>
/// <returns></returns>
private List <ActionPlan> checkActionPlansFull(List <ObservationHistory.ActionRecord> actionRecords, int time)
{
List <List <double> > actionSets = CreateTestActionSet(Session.instinctActionHandler(net, time));
ActionPlan[] r = new ActionPlan[actionSets.Count];
for (int i = 0; i < actionSets.Count; i++)
{
ActionPlan plan = null;
String judgeType = ActionPlan.JUDGE_INFERENCE;
if (i == 0)
{
judgeType = ActionPlan.JUDGE_INSTINCT;
}
else if (actionSets[i][0] == 0.5)
{
judgeType = ActionPlan.JUDGE_MAINTAIN;
}
ObservationHistory.ActionRecord record = actionRecords.FirstOrDefault(p => p.actions[0] == actionSets[i][0]);
if (record == null)
{
plan = ActionPlan.CreateActionPlan(net, actionSets[i], time, judgeType, "");
}
else
{
plan = ActionPlan.CreateActionPlan(net, record.actions, time, judgeType, "");
plan.evaulation = record.evaluation;
}
r[i] = plan;
}
return(r.ToList());
}
/// <summary>
/// 1.处理reward
/// 1.1 将当前环境场景放入
/// 2.生成测试行动集
/// 3.对每一个行动，计算评估值
/// 4.选择评估值最大行动
/// </summary>
/// <param name="time"></param>
/// <param name="session"></param>
/// <returns></returns>
public override ActionPlan execute(int time, Session session)
{
//1.1 处理reward
processReward(time);
//1.2 仍在随机动作阶段
if (time < 1)
{
return(net.actionPlanChain.PutNext(ActionPlan.CreateRandomPlan(net, time, "随机漫游")));
}
if (net.reward > 0 && net.actionPlanChain.Length > 0 && net.actionPlanChain.Root.planSteps > net.actionPlanChain.Length)
{
return(net.actionPlanChain.PutNext(ActionPlan.createMaintainPlan(net, time, "maintain", 0, net.actionPlanChain.Last.planSteps - 1)));
}
//1.3 创建测试动作集
List <double> instinctAction = Session.instinctActionHandler(net, time);
List <double> maintainAction = ActionPlan.MaintainAction;
List <List <double> > testActionSet = this.CreateTestActionSet(instinctAction);
//如果碰撞了，将维持动作删除去
if (net.reward <= 0)
{
int mindex = testActionSet.IndexOf(a => a[0] == 0.5);
if (mindex >= 0)
{
testActionSet.RemoveAt(mindex);
}
}
//1.4 寻找每个测试动作的匹配记录,计算所有匹配记录的均值
double[] evaluations = new double[testActionSet.Count];
List <InferenceRecord>[] rs = new List <InferenceRecord> [testActionSet.Count];
for (int i = 0; i < evaluations.Length; i++)
{
evaluations[i] = double.NaN;
}
List <Vector> envValues = net.GetReceptorSceneValues();
for (int i = 0; i < testActionSet.Count; i++)
{
List <InferenceRecord> records = net.GetMatchInfRecords(envValues, testActionSet[i], time);
rs[i] = new List <InferenceRecord>(records);
List <InferenceRecord> evaluatedRecords = records.FindAll(r => !double.IsNaN(r.evulation));
if (evaluatedRecords != null && evaluatedRecords.Count > 0)
{
evaluations[i] = evaluatedRecords.ConvertAll(r => r.evulation).Average();
}
}
for (int i = 0; i < testActionSet.Count; i++)
{
if (this.net.reward < -1.0 && testActionSet[i][0] == 0.5)
{
evaluations[i] = double.MinValue;
}
if (testActionSet[i][0] == 0.0 && net.actionPlanChain.Length >= 2 && net.actionPlanChain.ToList()[net.actionPlanChain.Length - 1].actions[0] == 0 &&
net.actionPlanChain.ToList()[net.actionPlanChain.Length - 2].actions[0] == 0)
{
evaluations[i] = double.MinValue;
}
}
ActionPlan plan = null;
//寻找是否有为评估的，优先评估它
int index = -1;
for (int i = 0; i < evaluations.Length; i++)
{
if (double.IsNaN(evaluations[i]))
{
index = i; break;
}
}
if (index >= 0)
{
plan = net.actionPlanChain.PutNext(ActionPlan.CreateActionPlan(net, testActionSet[index], time, ActionPlan.JUDGE_INFERENCE, "未知评估"));
if (rs[index] != null && rs[index].Count > 0)
{
plan.inferenceRecords = rs[index].ConvertAll(r => (r, 0.0));
}
plan.evaulation = evaluations[index];
if (plan.actions[0] == instinctAction[0])
{
plan.planSteps = 0;
}
else
{
plan.planSteps = 0;
}
return(plan);
}
index = evaluations.ToList().IndexOf(evaluations.Max());
plan = net.actionPlanChain.PutNext(ActionPlan.CreateActionPlan(net, testActionSet[index], time, ActionPlan.JUDGE_INFERENCE, "最大评估"));
if (rs[index] != null && rs[index].Count > 0)
{
plan.inferenceRecords = rs[index].ConvertAll(r => (r, 0.0));
}
plan.evaulation = evaluations[index];
if (plan.actions[0] == instinctAction[0])
{
plan.planSteps = 0;
}
else
{
plan.planSteps = 0;
}
return(plan);
}
public override ActionPlan Execute(int time, Session session)
{
//1.1 处理reward
processReward(time);
//取得当前姿态和最优姿态
Vector curGesture = net.GetReceptorGesture(null);
Vector optimaGesture = Session.handleGetOptimaGesture(net, time);
policyState = new PolicyState();
policyState.curGesture = curGesture.clone();
policyState.optimaGesture = optimaGesture.clone();
//1.2 仍在随机动作阶段
if (time < Session.GetConfiguration().learning.development.step)
{
ActionPlan actionPlan = ActionPlan.CreateRandomPlan(net, time, "random walk");
policyState.policeText = actionPlan.judgeType;
policyState.action = actionPlan.actions[0];
return(net.actionPlanChain.PutNext(actionPlan));
}
//1.3 初始化值差异方向感
List <double> actions = null;
Dictionary <Vector, Vector> actionToGesture = null;
if (expectGesture == null)
{
expectGesture = optimaGesture.clone();
actions = net.doInference(time, expectGesture, out actionToGesture);
policyState.objectiveGesture = expectGesture.clone();
policyState.action = actions[0];
policyState.policeText = "optima posture";
return(net.actionPlanChain.Reset(ActionPlan.CreateActionPlan(net, actions, time, ActionPlan.JUDGE_INFERENCE, "optima posture")));
}
//1.4计算当前环境状态下的评估
double envEvaluation = doEvaluateEnviornment(time, policyState);
//1.5当前姿态是最优姿态，且当前环境状态为正评估，执行维持动作，结束
if (net.IsGestureInTolerateDistance(curGesture, optimaGesture) && envEvaluation >= 0)
{
optimaMaintainCount += 1;
ActionPlan plan = ActionPlan.createMaintainPlan(net, time, "maintain optimal posture", envEvaluation, 0);
policyState.action = plan.actions[0];
policyState.policeText = plan.judgeType;
return(net.actionPlanChain.PutNext(plan));
}
if (optimaMaintainCount > 0)
{
optimaMaintainCount = 0;
if (envEvaluation >= 0)
{
actions = net.doInference(time, optimaGesture, out actionToGesture);
policyState.action = actions[0];
policyState.policeText = "adjust optimal posture";
return(net.actionPlanChain.Reset(ActionPlan.CreateActionPlan(net, actions, time, ActionPlan.JUDGE_INFERENCE, "adjust optimal posture")));
}
}
//1.6 计算偏离方向（如果与最优姿态出现偏离，计算偏离的方向）
//对应距离来说，方向是指偏大偏小，对于角度来说，方向是指顺时针逆时针
if (expectDirection == null)
{
List <Receptor> gestureReceptors = net.GesturesReceptors;
List <MeasureTools> measureTools = net.GestureMeasureTools;
expectDirection = new Vector(true, curGesture.Size);
for (int i = 0; i < curGesture.Size; i++)
{
if (double.IsNaN(optimaGesture[i]))
{
expectDirection[i] = 0;
}
else
{
expectDirection[i] = measureTools[i].getChangeDirection(curGesture[i], optimaGesture[i]);
}
}
}
//1.6 当前环境是正评估或未知评估
int K = 1;
Vector objectiveGesture = null;
int maintainSteps = net.actionPlanChain.Length;
if (envEvaluation >= 0)
{
//1.6.1维持小于K步，执行维持动作
if (maintainSteps <= K)
{
ActionPlan plan = ActionPlan.createMaintainPlan(net, time, "positive evaluation and maintenance ", envEvaluation, 0);
policyState.action = plan.actions[0];
policyState.policeText = plan.judgeType;
return(net.actionPlanChain.PutNext(plan));
}
//1.6.2 当前环境是正评估,目标姿态为当前姿态向期望方向靠近
else
{
Vector tempCurGesture = curGesture;
while (true)
{
objectiveGesture = moveGesture(tempCurGesture, optimaGesture, expectDirection, 1);
actions = net.doInference(time, objectiveGesture, out actionToGesture);
actions = checkMaxActions(actions);
actions = checkMove(actions, curGesture, objectiveGesture);
policyState.setGestureAction(envEvaluation, curGesture, objectiveGesture, actions[0], actionToGesture);
policyState.policeText = "Expectation improvement after positive evaluation";
return(net.actionPlanChain.Reset(ActionPlan.CreateActionPlan(net, actions, time, ActionPlan.JUDGE_INFERENCE, "Expectation improvement after positive evaluation")));
}
}
}
//1.7 当前奖励是负，切换期望姿态
objectiveGesture = moveGesture(curGesture, optimaGesture, expectDirection, -1);
actions = net.doInference(time, objectiveGesture, out actionToGesture);
actions = checkMaxActions(actions);
if (actions[0] == 0.5)
{
if (expectDirection == 1)
{
actions[0] -= 0.1;
}
else if (expectDirection == -1)
{
actions[0] += 0.1;
}
}
policyState.setGestureAction(envEvaluation, curGesture, objectiveGesture, actions[0], actionToGesture);
policyState.setGestureAction(envEvaluation, curGesture, objectiveGesture, actions[0], actionToGesture);
policyState.policeText = "lower expectations after negative evaluation";
//actions = checkMove(actions, curGesture, objectiveGesture);
return(net.actionPlanChain.Reset(ActionPlan.CreateActionPlan(net, actions, time, ActionPlan.JUDGE_INFERENCE, "lower expectations after negative evaluation")));
}
