public TimeStep(EnvironmentTimeStep environmentTimeStep, TuringMachineTimeStep turingMachineTimeStep)
{
EnvironmentTimeStep = environmentTimeStep;
TuringMachineTimeStep = turingMachineTimeStep;
}
/// <summary>
/// Activate the Turing machine.
/// Operation order:
/// 1: Write
/// 2: Content jump
/// 3: Shift
/// 4: Read
/// </summary>
/// <param name="fromNN">Turing machine input (NN output)</param>
/// <returns>Turing machine output (NN input)</returns>
public double[][] ProcessInput(double[] fromNN)
{
Debug.DLogHeader("MINIMAL TURING MACHINE START", true);
Debug.DLog($"From NN: {Utilities.ToString(fromNN, "f4")}", true);
// Current timestep will start on 1, since the inital read does not run this method
_currentTimeStep++;
if (!_enabled)
{
return(_initialRead);
}
double[][] result = new double[_heads][];
double[][] writeKeys = new double[_heads][];
double[] interps = new double[_heads];
double[] jumps = new double[_heads];
double[][] shifts = new double[_heads][];
int[] writePositions = null;
double[][] written = null;
_didWrite = false;
_didRead = false;
// Attention! Novelty score does not currently support multiple read/write heads.
// It will overwrite data for previous heads, if more than one.
if (RecordTimeSteps || NoveltySearch.ScoreNovelty)
{
writePositions = new int[_heads];
if (RecordTimeSteps)
{
written = new double[_heads][];
}
}
int p = 0;
// First all writes
for (int i = 0; i < _heads; i++)
{
writeKeys[i] = Take(fromNN, p, _m);
p += _m;
interps[i] = fromNN[p];
p++;
jumps[i] = fromNN[p];
p++;
int s = GetShiftInputs();
shifts[i] = Take(fromNN, p, s);
p += s;
Debug.DLogHeader($"HEAD {i + 1}", true);
Debug.DLog($"\nWrite: \t{Utilities.ToString(writeKeys[i], "f4")}" +
$"\nInterpolate: \t{interps[i].ToString("f4")}" +
$"\nContent: \t{jumps[i].ToString("f4")}" +
$"\nShift: \t{Utilities.ToString(shifts[i], "f4")}", true);
// 1: Write!
Write(i, writeKeys[i], interps[i]);
if (RecordTimeSteps || NoveltySearch.ScoreNovelty)
{
// Save write position for recording
writePositions[i] = _headPositions[i];
if (RecordTimeSteps)
{
//Save tape data at write location before head is moved
written[i] = GetRead(i);
}
}
}
for (int i = 0; i < _heads; i++)
{
// 2: Content jump!
PerformContentJump(i, jumps[i], writeKeys[i]);
}
// Shift and read (no interaction)
for (int i = 0; i < _heads; i++)
{
// If the memory has been expanded down below 0, which means the memory has shiftet
_increasedSizeDown = false;
// 3: Shift!
int shift = MoveHead(i, shifts[i]);
// 4: Read!
result[i] = GetRead(i); // Show me what you've got! \cite{rickEtAl2014}
if (RecordTimeSteps || NoveltySearch.ScoreNovelty)
{
// Calculate corrected write position first, since the write happened before a possible downward memory increase
int correctedWritePosition = writePositions[i] - _zeroPosition;
// The memory has increased in size downward (-1), shifting all memory positions +1
if (_increasedSizeDown)
{
writePositions[i]++;
_zeroPosition++;
}
if (NoveltySearch.ScoreNovelty)
{
// (-1 because timestep 0 is not scored)
int n = _currentTimeStep - 1;
switch (NoveltySearch.VectorMode)
{
case NoveltyVectorMode.WritePattern:
// Save the write position as a behavioural trait
NoveltySearch.NoveltyVectors[n][0] = correctedWritePosition;
break;
case NoveltyVectorMode.ReadContent:
// Content of the read vector
Array.Copy(result[i], NoveltySearch.NoveltyVectors[n], result[i].Length);
break;
case NoveltyVectorMode.WritePatternAndInterp:
// Head position (we use corrected write position to account for downward shifts)
NoveltySearch.NoveltyVectors[n][0] = correctedWritePosition;
// Write interpolation
NoveltySearch.NoveltyVectors[n][1] = interps[i];
break;
case NoveltyVectorMode.ShiftJumpInterp:
NoveltySearch.NoveltyVectors[n][0] = shift;
NoveltySearch.NoveltyVectors[n][1] = jumps[i];
NoveltySearch.NoveltyVectors[n][2] = interps[i];
break;
}
// Check for non-empty reads, to see if novelty search minimum criteria has been reached
for (int j = 0; j < result[i].Length; j++)
{
if (result[i][j] > .1f)
{
_didRead = true;
break;
}
}
if (NoveltySearch.VectorMode != NoveltyVectorMode.EnvironmentAction)
{
// If the turing machine neither wrote or read this iteration, we note it for the minimum criteria novelty search
if (!_didWrite && !_didRead)
{
// Store number of redundant iterations in the novelty vector.
NoveltySearch.MinimumCriteria[0] += 1;
}
// Total timesteps to calculate redundancy factor
NoveltySearch.MinimumCriteria[1] += 1;
}
}
if (RecordTimeSteps)
{
int readPosition = _headPositions[i];
int correctedReadPosition = readPosition - _zeroPosition;
_prevTimeStep = new TuringMachineTimeStep(writeKeys[i], interps[i], jumps[i], shifts[i], result[i], written[i], writePositions[i], readPosition, _zeroPosition, correctedWritePosition, correctedReadPosition, _tape.Count);
}
}
}
Debug.DLog(PrintState(), true);
Debug.DLog("Sending to NN: " + Utilities.ToString(result, "F4"), true);
Debug.DLogHeader("MINIMAL TURING MACHINE END", true);
return(result);
}
public void Record(EnvironmentTimeStep environmentTimeStep, TuringMachineTimeStep turingTimeStep)
{
_recordedTimeSteps.Add(new TimeStep(environmentTimeStep, turingTimeStep));
}
