private void EditObjectives()
{
var vm = new CustomObjectivesViewModel(PrimaryAgent.Environment);
vm.InitializeObjectives();
Views.CustomObjectivesView dialog = new Views.CustomObjectivesView();
dialog.DataContext = vm;
var result = dialog.ShowDialog();
if (result.HasValue &&
result.Value)
{
if (PrimaryAgent.Environment != MazeVm.Maze)
{
PrimaryAgent.Environment = (MazeBase)MazeVm.Maze;
}
PrimaryAgent.Environment.AdditionalRewards.Clear();
foreach (var objective in vm.Objectives)
{
PrimaryAgent.Environment.AddReward(objective);
}
if (SecondaryAgent != null)
{
SecondaryAgent.Environment = MazeUtilities.CopyEnvironment(PrimaryAgent.Environment);
}
MazeVm.InitializeMaze();
}
}
private void OpenMenuItem_Click(object sender, EventArgs e)
{
OpenFileDialog dlg = new OpenFileDialog();
dlg.Filter = "Maze Files (*.maze)|*.maze";
if (dlg.ShowDialog() == DialogResult.OK)
{
_walls.Clear();
mazeSpace.Enabled = false;
var loaded = MazeUtilities.LoadObject <MazeAgent>(dlg.FileName);
_agentPrimary = MazeUtilities.ConvertLoadedAgent(loaded);
_agentSecondary = MazeUtilities.ConvertLoadedAgent(loaded);
_agentSecondary.Environment = MazeUtilities.CopyEnvironment(loaded.Environment);
_agentSecondary.StartPosition = _agentPrimary.StartPosition;
AgentSubscribeEvents(_agentPrimary);
AgentSubscribeEvents(_agentSecondary);
SetFormValuesFromMaze();
_needsRetrain = true;
mazeSpace.Enabled = true;
}
}
private void LoadAgent(string path)
{
var loaded = MazeUtilities.LoadObject <MazeAgent>(path);
loaded.Environment.QualitySaveFrequency = 100;
PrimaryAgent = MazeUtilities.ConvertLoadedAgent(loaded);
SecondaryAgent = MazeUtilities.ConvertLoadedAgent(loaded);
SecondaryAgent.Environment = MazeUtilities.CopyEnvironment(loaded.Environment);
SecondaryAgent.StartPosition = PrimaryAgent.StartPosition;
if (PrimaryAgent.LearningStyle == QLearning.Core.LearningStyles.QLearning)
{
SecondaryAgent.LearningStyle = QLearning.Core.LearningStyles.SARSA;
}
else
{
SecondaryAgent.LearningStyle = QLearning.Core.LearningStyles.QLearning;
}
OnPropertyChanged(nameof(SelectedLearningStyle));
OnPropertyChanged(nameof(PrimaryAgent));
OnPropertyChanged(nameof(SecondaryAgent));
OnPropertyChanged(nameof(GoalPosition));
OnPropertyChanged(nameof(MazeVm));
}
private void ChangeGoalPosition(int newGoal)
{
var space = MazeVm.GetSpaceByPosition(MazeVm.Maze.GoalPosition);
if (space != null)
{
space.IsGoal = false;
}
space = MazeVm.GetSpaceByPosition(newGoal);
space.IsGoal = true;
MazeVm.Maze.GoalPosition = newGoal;
if (PrimaryAgent.Environment == null)
{
PrimaryAgent.Environment = new MazeBase(MazeVm.Columns, MazeVm.Rows, PrimaryAgent.StartPosition, newGoal, 200);
PrimaryAgent.Environment.Initialize();
SecondaryAgent.Environment = MazeUtilities.CopyEnvironment(PrimaryAgent.Environment);
}
else
{
PrimaryAgent.Environment.GoalPosition = newGoal;
SecondaryAgent.Environment.GoalPosition = newGoal;
}
}
private void SaveMenuItem_Click(object sender, EventArgs e)
{
SaveFileDialog dlg = new SaveFileDialog();
dlg.Filter = "Maze Files (*.maze)|*.maze";
if (dlg.ShowDialog() == DialogResult.OK)
{
MazeUtilities.SaveObject(dlg.FileName, _agentPrimary);
}
}
private void SaveAgentMaze()
{
var dialog = new SaveFileDialog();
dialog.Filter = "Agent Maze File|*.maze";
bool?result = dialog.ShowDialog();
if (result.HasValue && result.Value == true)
{
MazeUtilities.SaveObject(dialog.FileName, PrimaryAgent);
}
}
private void NewAgentMaze()
{
PrimaryAgent = new MazeAgent(0.5, 0.5, 1000, 1000, 3);
PrimaryAgent.MaximumAllowedBacktracks = 3;
PrimaryAgent.MaximumAllowedMoves = 1000;
PrimaryAgent.Environment = new MazeBase(1, 1, 0, 0, 200);
SecondaryAgent = MazeUtilities.ConvertLoadedAgent(PrimaryAgent);
SecondaryAgent.Environment = MazeUtilities.CopyEnvironment(PrimaryAgent.Environment);
MazeVm = new MazeViewModel(PrimaryAgent.Environment);
OnPropertyChanged(nameof(PrimaryAgent));
OnPropertyChanged(nameof(SecondaryAgent));
OnPropertyChanged(nameof(GoalPosition));
}
static void Main(string[] args)
{
string filePath = "";
if (args.Length > 0)
{
filePath = args[0];
}
if (!File.Exists(filePath))
{
Console.WriteLine("File Not Found");
filePath = Path.Combine(Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location), @"MazeImages\braid200.bmp");
}
Console.WriteLine($"Using maze image file: {Path.GetFileName(filePath)}");
Stopwatch s = new Stopwatch();
s.Start();
var maze = new Maze(filePath);
Solver.SolveAStar(maze);
if (maze.SolutionFound)
{
Console.WriteLine($"Solution found in {maze.Solution.Count} steps.");
}
else
{
Console.WriteLine($"No solution found.");
}
MazeUtilities.SaveSolution(maze);
s.Stop();
Console.WriteLine("Time Elapsed: " + s.Elapsed.ToString(@"mm\:ss\.fff"));
Console.WriteLine("Press Enter to close...");
Console.ReadLine();
}
public Task Train()
{
List <Task> tasks = new List <Task>();
List <MazeAgent> agents = new List <MazeAgent>();
if (PrimaryAgent.MaximumAllowedMoves == 0)
{
PrimaryAgent.MaximumAllowedMoves = MazeVm.Rows * MazeVm.Columns * 100;
}
if (PrimaryAgent.MaximumAllowedBacktracks == 0)
{
PrimaryAgent.MaximumAllowedBacktracks = 3;
}
if (PrimaryAgent.Environment != MazeVm.Maze)
{
PrimaryAgent.Environment = (MazeBase)MazeVm.Maze;
}
agents.Add(PrimaryAgent);
PrimaryAgent.TrainingEpisodeCompleted += AgentTrainingEpisodeCompleted;
if (UseSecondAgent &&
SecondaryAgent != null)
{
SecondaryAgent.LearningRate = PrimaryAgent.LearningRate;
SecondaryAgent.DiscountFactor = PrimaryAgent.DiscountFactor;
SecondaryAgent.NumberOfTrainingEpisodes = PrimaryAgent.NumberOfTrainingEpisodes;
if (PrimaryAgent.LearningStyle == QLearning.Core.LearningStyles.QLearning)
{
SecondaryAgent.LearningStyle = QLearning.Core.LearningStyles.SARSA;
}
else
{
SecondaryAgent.LearningStyle = QLearning.Core.LearningStyles.QLearning;
}
if (SecondaryAgent.MaximumAllowedMoves == 0)
{
SecondaryAgent.MaximumAllowedMoves = MazeVm.Rows * MazeVm.Columns * 100;
}
if (SecondaryAgent.MaximumAllowedBacktracks == 0)
{
SecondaryAgent.MaximumAllowedBacktracks = 3;
}
SecondaryAgent.Environment = MazeUtilities.CopyEnvironment((MazeBase)MazeVm.Maze);
agents.Add(SecondaryAgent);
SecondaryAgent.TrainingEpisodeCompleted += AgentTrainingEpisodeCompleted;
SecondaryAgent.Environment.SaveQualityToDisk = false;
}
_sessionsVm = null;
TrainingEpisodesCompleted = 0;
TrainingProgressVisibility = Visibility.Visible;
IsTraining = true;
var result = Parallel.ForEach(agents, (agent) =>
{
TrainAgent(agent);
});
while (!result.IsCompleted)
{
}
if (_sessionsVm == null)
{
_sessionsVm = new TrainingSessionsViewModel(PrimaryAgent);
Task.Run(() => _sessionsVm.InitializeSessions());
}
IsTraining = false;
TrainingProgressVisibility = Visibility.Hidden;
Application.Current.Dispatcher.Invoke(() => GetQualityFromTraining());
foreach (var agent in agents)
{
agent.TrainingEpisodeCompleted -= AgentTrainingEpisodeCompleted;
}
return(Task.CompletedTask);
}
public void InitializeSessions()
{
var trainingSessions = new List <TrainingSessionEx>();
var sessions = _agent.TrainingSessions.OrderBy(e => e.Episode).ToList();
var agent = MazeUtilities.ConvertLoadedAgent(_agent);
agent.Environment = MazeUtilities.CopyEnvironment(_agent.Environment);
agent.AgentCompleted += Agent_AgentCompleted;
for (int i = sessions.Count - 1; i >= 0; --i)
{
var session = new TrainingSessionEx
{
Episode = sessions[i].Episode,
Moves = sessions[i].Moves,
Quality = sessions[i].Quality,
Score = sessions[i].Score
};
_moves = 0;
_score = 0;
agent.Environment.QualityTable = session.Quality;
try
{
agent.Run(agent.StartPosition);
session.Succeeded = true;
}
catch
{
session.Succeeded = false;
}
session.Moves = _moves;
session.Score = _score;
trainingSessions.Add(session);
}
var selection = trainingSessions
.GroupBy(g => new
{
g.Moves,
g.Score,
g.Succeeded
})
.Select(t => new TrainingSessionEx()
{
MinEpisode = t.Last().Episode,
MaxEpisode = t.First().Episode,
Episode = t.Last().Episode,
Moves = t.Key.Moves,
Score = t.Key.Score,
Succeeded = t.Key.Succeeded,
Quality = t.First().Quality
});
trainingSessions = selection
.OrderByDescending(s => s.Succeeded)
.ThenByDescending(m => m.Moves)
.ThenByDescending(e => e.MinEpisode).ToList();
TrainingSessions = trainingSessions;
SelectedSession = TrainingSessions.FirstOrDefault();
agent.AgentCompleted -= Agent_AgentCompleted;
}
