public IGMNData(IGMN owner, Vector mean)
{
this.owner = owner;
this.gauss = new Gaussian(mean, getStarterCovariance());
this.inputGauss = new Gaussian(mean.Part(0, mean.Elements.Length - 1), getInputStarterCovariance());
Age = 1;
Accumlator = 1;
}
public RL_TDlambda()
{
InitializeComponent();
sim = new InvertedPendulumEnvironmentSimulator();
igmn1 = new IGMN(new Vector(new double[] { 1, 1, 1 }));
igmn2 = new IGMN(new Vector(new double[] { 1, 1, 1 }));
tab1 = new TabularApproximator(new int[] { 200, 200 }, new double[] { -Math.PI, -1.5*Math.PI }, new double[] { Math.PI, 1.5 * Math.PI });
tab2 = new TabularApproximator(new int[] { 200, 200 }, new double[] { -Math.PI, -1.5*Math.PI }, new double[] { Math.PI, 1.5 * Math.PI });
r = new Random();
isRunning = true;
trainingThread = new Thread(new ThreadStart(train));
trainingThread.Start();
timer1.Start();
}
public Form1()
{
InitializeComponent();
r = new Random();
for (int k = 0; k < maxepochcount; ++k)
{
rewardsMin[k] = double.MaxValue;
rewardsMax[k] = double.MinValue;
rewardsAvg[k] = 0;
}
igmn1 = new IGMN(new Vector(new double[] { 1, 1, 1 }));
igmn2 = new IGMN(new Vector(new double[] { 1, 1, 1 }));
timer1.Start();
}
public RL_TDlambda_acrobot()
{
InitializeComponent();
sim = new AcrobotEnvironmentSimulator2();
igmn1 = new IGMN(new Vector(new double[] { 1, 1, 1, 1, 1 }));
igmn2 = new IGMN(new Vector(new double[] { 1, 1, 1, 1, 1 }));
tab1 = new TabularApproximator(new int[] { 50, 50, 50, 50 }, new double[] { -Math.PI, -Math.PI, -3 * Math.PI, -3 * Math.PI }, new double[] { Math.PI, Math.PI, 3 * Math.PI, 3 * Math.PI });
tab2 = new TabularApproximator(new int[] { 50, 50, 50, 50 }, new double[] { -Math.PI, -Math.PI, -3 * Math.PI, -3 * Math.PI }, new double[] { Math.PI, Math.PI, 3 * Math.PI, 3 * Math.PI });
r = new Random();
isRunning = true;
trainingThread = new Thread(new ThreadStart(train));
trainingThread.Start();
timer1.Start();
}
public Form1()
{
InitializeComponent();
igmn = new IGMN(new Vector(new double[] {0.005, 0.005, 1 }));
//IGMNDataTest2();
////for ( x < 12.5; x += 0.01)
////{
////}
////for (double x = 0; x < 12.5; x += 0.1)
////{
//// Console.Out.WriteLine(igmn.Recall(new Vector(new double[] { x })));
////}
timer1.Start();
}
private void timer1_Tick(object sender, EventArgs e)
{
if (count >= maxepochcount)
{
igmn1 = new IGMN(new Vector(new double[] { 1, 1, 1, 1, 10 }));
igmn2 = new IGMN(new Vector(new double[] { 1, 1, 1, 1, 10 }));
count = 0;
traincount++;
if (traincount >= maxtraincount)
{
timer1.Stop();
//saveBitmap();
using (StreamWriter sw = new StreamWriter("learningMin.txt"))
{
foreach (double d in rewardsMin)
{
sw.Write(d.ToString() + "\r\n");
}
}
using (StreamWriter sw = new StreamWriter("learningMax.txt"))
{
foreach (double d in rewardsMax)
{
sw.Write(d.ToString() + "\r\n");
}
}
using (StreamWriter sw = new StreamWriter("learningAvg.txt"))
{
foreach (double d in rewardsAvg)
{
sw.Write(d.ToString() + "\r\n");
}
}
}
}
//if (stepcount >= maxstepcount)
{
stepcount = 0;
Console.Out.WriteLine(sumreward);
rewardsMin[count] = Math.Min(sumreward, rewardsMin[count]);
rewardsMax[count] = Math.Max(sumreward, rewardsMax[count]);
rewardsAvg[count] += sumreward / maxtraincount;
count++;
sumreward = 0;
q1 = -Math.PI / 2;//r.NextDouble()*2*Math.PI-Math.PI;
dq1 = 0;
q2 = 0;
dq2 = 0;
}
for (int i = 0; i < 200; ++i)
{
//q values
double actionq1 = igmn1.Recall(new Vector(new double[] { q1, q2, dq1, dq2 }));
double actionq2 = igmn2.Recall(new Vector(new double[] { q1, q2, dq1, dq2 }));
int action = 0;
if (actionq1 > actionq2)
{
action = -1;
}
else
{
action = 1;
}
//e greedy
if (r.NextDouble() > 0.9)
{
action = r.Next(2) * 2 - 1;
}
if (action < 0) actionq_act = actionq1;
else actionq_act = actionq2;
//reward
double reward = /*Math.Sin(q1) + Math.Sin(q1 + q2) + 100 **/ Math.Round(Math.Pow(Math.Max(0,0.5 * Math.Sin(q1) + 0.5 * Math.Sin(q1 + q2)),30),5);
sumreward += reward;
//elozo lepest tanitani
double delta_q = (reward + 0.99 * actionq_act); //Math.Max(q1,q2)
if (M_old < 0) igmn1.Train(new Vector(new double[] { q1_old, q2_old, dq1_old, dq2_old, delta_q }));
else igmn2.Train(new Vector(new double[] { q1_old, q2_old, dq1_old, dq2_old, delta_q }));
//leptetni
M = action * M_abs;
q1_old = q1;
q2_old = q2;
dq1_old = dq1;
dq2_old = dq2;
M_old = M;
actionq_old = actionq_act;
double d11, d22, d12, d21;
double h1, h2, fi1, fi2;
double ddq1;
double ddq2;
double c1, c2, c3, c4, c5;
c1 = m1 * lc1 * lc1 + m2 * l1 * l1 + I1;
c2 = m2 * lc2 * lc2 + I2;
c3 = m2 * l1 * lc2;
c4 = m1 * lc1 + m2 * l1;
c5 = m2 * lc2;
d11 = c1 + c2 + 2 * c3 * Math.Cos(q2);
d21 = d12 = c2 + c3 * Math.Cos(q2);
d22 = c2;
h1 = c3 * (-2 * dq1 * dq2 - dq2 * dq2) * Math.Sin(q2);
h2 = c3 * (dq1 * dq1) * Math.Sin(q2);
fi1 = c4 * g * Math.Cos(q1) + c5 * g * Math.Cos(q1 + q2);
fi2 = c5 * g * Math.Cos(q1 + q2);
double delta = d11 * d22 - d12 * d21;
ddq1 = (1 / delta) * (d22 * (-h1 - fi1) - d12 * (M - h2 - fi2));
ddq2 = (1 / delta) * (-d21 * (-h1 - fi1) + d11 * (M - h2 - fi2));
dq1 *= 0.97;
dq2 *= 0.97;
q1 += dq1 * deltaT;
q2 += dq2 * deltaT;
dq1 += ddq1 * deltaT;
dq2 += ddq2 * deltaT;
if (q1 < -Math.PI) q1 += 2 * Math.PI;
if (q1 > Math.PI) q1 -= 2 * Math.PI;
if (q2 < -Math.PI) q2 += 2 * Math.PI;
if (q2 > Math.PI) q2 -= 2 * Math.PI;
}
//stepcount++;
Invalidate();
}
void train()
{
double[] state;//a, w
double lambda = 0.9;// 0.9;
double gamma = 0.99;
Random r = new Random();
while (isRunning)
{
igmn1 = new IGMN(new Vector(new double[] { 1, 1, 1, 1, 1 }));
igmn2 = new IGMN(new Vector(new double[] { 1, 1, 1, 1, 1 }));
for (int k = 0; k < 500; ++k)
{
List<TDLambda_data> diffQs = new List<TDLambda_data>();
if (r.NextDouble() > 0.01) state = new double[] { (2 * r.NextDouble() - 1) * Math.PI, (2 * r.NextDouble() - 1) * 0.8 * Math.PI, (2 * r.NextDouble() - 1) * 0.5 * Math.PI, (2 * r.NextDouble() - 1) * 0.5 * Math.PI };
else state = new double[] { -Math.PI, 0, 0, 0 };
//state = new double[] { (2 * r.NextDouble() - 1) * Math.PI, (2 * r.NextDouble() - 1) * 0.8 * Math.PI, 0, 0 };
//state = new double[] { 0, 0, 0, 0 };
double M;
double q_act;
double sumreward = 0;
GetAction(state, out M, out q_act);
for (int i = 0; i < 300; ++i)
{
double[] state_new;
double reward;
sim.Simulate(state, new double[] { M }, dT, out state_new, out reward);
double M_new;
double q_act_new;
GetAction(state_new, out M_new, out q_act_new);
double delta_q = (reward + gamma * q_act_new - q_act);
diffQs.Add(new TDLambda_data(state, M, q_act, 0));
for (int j = i; j >= 0; --j)
{
diffQs[j].diff += Math.Pow(lambda * gamma, i - j) * delta_q;
}
M = M_new;
q_act = q_act_new;
state = state_new;
sumreward += reward;
}
//Console.Out.WriteLine(sumreward);
//td lambda tanitas
for (int i = 0; i < diffQs.Count; ++i)
{
if (diffQs[i].action < 0)
{
lock (igmn1)
{
igmn1.Train(new Vector(new double[] { diffQs[i].state[0], diffQs[i].state[1], diffQs[i].state[2], diffQs[i].state[3], diffQs[i].diff + diffQs[i].Q }));
}
lock (tab1)
{
//tab1.Train(new double[] { diffQs[i].state[0], diffQs[i].state[1], diffQs[i].state[2], diffQs[i].state[3] }, diffQs[i].diff + diffQs[i].Q, 0.1);
}
}
else if (diffQs[i].action > 0)
{
lock (igmn2)
{
igmn2.Train(new Vector(new double[] { diffQs[i].state[0], diffQs[i].state[1], diffQs[i].state[2], diffQs[i].state[3], diffQs[i].diff + diffQs[i].Q }));
}
lock (tab2)
{
//tab2.Train(new double[] { diffQs[i].state[0], diffQs[i].state[1], diffQs[i].state[2], diffQs[i].state[3] }, diffQs[i].diff + diffQs[i].Q, 0.1);
}
}
}
bm = VisualizeAcrobot();
lock (this)
{
}
//Thread.Sleep(1000);
}
}
}
private void timer1_Tick(object sender, EventArgs e)
{
if (count >= maxepochcount)
{
igmn1 = new IGMN(new Vector(new double[] { 1, 1, 1 }));
igmn2 = new IGMN(new Vector(new double[] { 1, 1, 1 }));
count = 0;
traincount++;
if (traincount >= maxtraincount)
{
timer1.Stop();
//saveBitmap();
using (StreamWriter sw = new StreamWriter("learningMin.txt"))
{
foreach (double d in rewardsMin)
{
sw.Write(d.ToString() + "\r\n");
}
}
using (StreamWriter sw = new StreamWriter("learningMax.txt"))
{
foreach (double d in rewardsMax)
{
sw.Write(d.ToString() + "\r\n");
}
}
using (StreamWriter sw = new StreamWriter("learningAvg.txt"))
{
foreach (double d in rewardsAvg)
{
sw.Write(d.ToString() + "\r\n");
}
}
}
}
double sumreward = 0;
a = (2 * r.NextDouble() - 1) * Math.PI;
w = (2 * r.NextDouble() - 1) * 2 * Math.PI;
a_old = a;
w_old = w;
for (int i = 0; i < 200; ++i)
{
//q values
double q1 = igmn1.Recall(new Vector(new double[] { a, w }));
double q2 = igmn2.Recall(new Vector(new double[] { a, w }));
int action = 0;
if (q1 > q2)
{
action = -1;
}
else
{
action = 1;
}
//e greedy
if (r.NextDouble() > 0.7)
{
action = r.Next(2) * 2 - 1;
}
if (action < 0) q_act = q1;
else q_act = q2;
//reward
double reward = Math.Cos(a);
sumreward += reward;
//elozo lepest tanitani
double delta_q = (reward + 0.99 * q_act); //Math.Max(q1,q2)
if (M_old < 0) igmn1.Train(new Vector(new double[] { a_old, w_old, delta_q }));
else igmn2.Train(new Vector(new double[] { a_old, w_old, delta_q }));
//leptetni
M = action * M_abs;
a_old = a;
w_old = w;
M_old = M;
q_old = q_act;
w += (l * m * g * Math.Sin(a) + M - mu * w) / (l * l * m) * dT;
a += w * dT;
if (a < -Math.PI) a += 2 * Math.PI;
if (a > Math.PI) a -= 2 * Math.PI;
}
Console.Out.WriteLine(sumreward);
rewardsMin[count] = Math.Min(sumreward, rewardsMin[count]);
rewardsMax[count] = Math.Max(sumreward, rewardsMax[count]);
rewardsAvg[count] += sumreward / maxtraincount;
count++;
//Invalidate();
}
