void FixedUpdate()
{
timer += Time.deltaTime;
List <double> states = new List <double>();
states.Add(this.transform.rotation.x * 10);
states.Add(this.transform.rotation.y * 10);
states.Add(this.transform.rotation.z * 10);
states.Add(ball.transform.position.x / 2.5f);
states.Add(ball.transform.position.z / 2.5f);
states.Add(ball.GetComponent <Rigidbody>().velocity.x / 4.0f);
states.Add(ball.GetComponent <Rigidbody>().velocity.z / 4.0f);
List <double> qs = ann.Predict(states);
qs1 = new List <double>();
qs2 = new List <double>();
qs1.Add(qs[0]);
qs1.Add(qs[1]);
qs2.Add(qs[2]);
qs2.Add(qs[3]);
List <double> qs1SoftMax = SoftMax(qs1);
List <double> qs2SoftMax = SoftMax(qs2);
double maxQ1 = qs1.Max();
double maxQ2 = qs2.Max();
maxQIndex1 = qs1.ToList().IndexOf(maxQ1);
maxQIndex2 = qs2.ToList().IndexOf(maxQ2);
if (Random.Range(1, 100) < exploreRate)
{
maxQIndex1 = Random.Range(0, 2);
maxQIndex2 = Random.Range(0, 2);
}
if (maxQIndex1 == 0 && this.transform.rotation.z >= -0.25f)
{
transform.Rotate(Vector3.forward, tiltSpeed);// * (float)qs1SoftMax[maxQIndex1]);
}
else if (maxQIndex1 == 1 && this.transform.rotation.z <= 0.25f)
{
transform.Rotate(Vector3.forward, -tiltSpeed);// * (float)qs1SoftMax[maxQIndex1]);
}
if (maxQIndex2 == 0 && this.transform.rotation.x <= 0.25f)
{
transform.Rotate(Vector3.right, tiltSpeed);// * (float)qs2SoftMax[maxQIndex2]);
}
else if (maxQIndex2 == 1 && this.transform.rotation.x <= 0.25f)
{
transform.Rotate(Vector3.right, -tiltSpeed);// * (float)qs2SoftMax[maxQIndex2]);
}
float reward = 0.0f;
if (ball.GetComponent <BallState>().dropped)
{
reward = -1.0f; // * (Mathf.Sqrt(Mathf.Pow(ball.GetComponent<Rigidbody>().angularVelocity.z, 2.0f)) / 4.0f);
}
else
{
reward = 0.1f; // - Mathf.Sqrt(Mathf.Pow(ball.transform.position.x, 2.0f));
}
if (maxQIndex1 != -1 && maxQIndex2 != -1)
{
Replay3D lastMemory = new Replay3D(states[0],
states[1],
states[2],
states[3],
states[4],
states[5],
states[6],
maxQIndex1,
maxQIndex2,
reward);
/*if (replayMemory.Count > mCapacity)
* {
* replayMemory.RemoveAt(0);
* }*/
replayMemory.Add(lastMemory);
}
if (ball.GetComponent <BallState>().dropped || replayMemory.Count > 5000)
{
if (exploreRate > minExploreRate)
{
exploreRate -= exploreDecay;
}
int batchSize = 32;
if (replayMemory.Count < batchSize)
{
batchSize = replayMemory.Count;
}
List <int> samples = new List <int>();
while (samples.Count < batchSize)
{
int rand = Random.Range(0, replayMemory.Count);
if (!samples.Contains(rand))
{
samples.Add(rand);
}
}
List <List <double> > batchInputs = new List <List <double> >();
List <List <double> > batchOutputs = new List <List <double> >();
for (int samp = 0; samp < samples.Count; samp++)
//for (int i = replayMemory.Count - 1; i >= 0; i--)
{
int i = samples[samp];
double feedback1;
double feedback2;
if (i == replayMemory.Count - 1 || replayMemory[i].reward == -1)
{
feedback1 = replayMemory[i].reward;
feedback2 = replayMemory[i].reward;
}
else
{
List <double> toutputsNext = ann.Predict(replayMemory[i + 1].states);
List <double> toutputs1Next = new List <double>();
List <double> toutputs2Next = new List <double>();
toutputs1Next.Add(toutputsNext[0]);
toutputs1Next.Add(toutputsNext[1]);
toutputs2Next.Add(toutputsNext[2]);
toutputs2Next.Add(toutputsNext[3]);
double maxQ1Next = toutputs1Next.Max();
double maxQ2Next = toutputs2Next.Max();
feedback1 = (replayMemory[i].reward + (discount * maxQ1Next));
feedback2 = (replayMemory[i].reward + (discount * maxQ2Next));
}
List <double> toutputsNow = ann.Predict(replayMemory[i].states);
//List<double> toutputsNowOld = new List<double>(toutputsNow);
int action1Now = replayMemory[i].action1;
int action2Now = replayMemory[i].action2;
// thisQ = thisQ + learnRate * [thisReward + discount * nextQMax - thisQ];
//toutputsOld[action] = 0.5f * Mathf.Pow((float)(feedback - maxQOld), 2.0f);
//toutputsNow[actionNow] += feedback - toutputsNow[actionNow];
//toutputsNow[actionNow] += feedback;
toutputsNow[action1Now] = feedback1;
toutputsNow[action2Now + 2] = feedback2;
//ann.UpdateWeights(toutputsNowOld, toutputsNow);
batchInputs.Add(replayMemory[i].states);
batchOutputs.Add(toutputsNow);
}
ann.TrainBatch(batchInputs, batchOutputs);
if (ball.GetComponent <BallState>().dropped)
{
if (timer > maxBalanceTime)
{
maxBalanceTime = timer;
}
balanceTimes.Add(timer);
if (balanceTimes.Count > 100)
{
balanceTimes.RemoveAt(0);
}
averageBalanceTime = 0;
foreach (float balanceTime in balanceTimes)
{
averageBalanceTime += balanceTime;
}
averageBalanceTime /= balanceTimes.Count;
timer = 0;
failCount++;
}
ResetState();
replayMemory.Clear();
ann.saveBrain();
}
}
