IEnumerator updateAgents()
{
yield return(new WaitForEndOfFrame());
agents = GameObject.FindGameObjectsWithTag("agent");
Debug.Log("updating total " + agents.Length);
//update
for (int i = 0; i < agents.Length; i++)
{
AgentBehaviourRemote AgentBehaviourScript = agents[i].GetComponent <AgentBehaviourRemote>();
//AgentBehaviourScript.resetNet();
//AgentBehaviourScript.totalScore = 0f;
//AgentBehaviourScript.totalScoreHalf = 0f;
//AgentBehaviourScript.moveCount = 0;
AgentBehaviourScript.loadNet(evolved[i]);
}
}
void Start()
{
DontDestroyOnLoad(gameObject);
learningAgent = GameObject.Find("GreenAgent");
agentBehaviourScript = learningAgent.GetComponent <AgentBehaviourRemote>();
GameObject go = GameObject.Find("SocketIO");
socket = go.GetComponent <SocketIOComponent>();
//myscript = go.GetComponent<ectScript>();
socket.On("open", ServerOpen);
socket.On("error", ServerError);
socket.On("close", ServerClose);
socket.On("loginSuccess", loginSuccess);
socket.On("loginUnsuccess", loginUnsuccess);
}
private void loadEvolved()
{
string c = ",";
char separator = c.ToCharArray()[0];
for (int i = 0; i < agents.Length; i++)
{
AgentBehaviourRemote AgentBehaviourScript = agents[i].GetComponent <AgentBehaviourRemote>();
string weights = readData("network.agent" + i.ToString());
string[] weightArray;
List <double> weightList = new List <double>();
if (weights != "error")
{
weightArray = weights.Split(separator);
foreach (var weight in weightArray)
{
double item;
double.TryParse(weight, out item);
weightList.Add(item);
}
AgentBehaviourScript.loadNet(weightList);
Debug.Log("loaded weights " + " " + agents[i].name + " " + weightList.Count + " " + weightList.ElementAt(1));
}
else
{
Debug.Log("cannot load weights");
}
}
}
public void statistics()
{
Debug.Log("agents " + agents.Length);
AgentBehaviourRemote AgentBehaviourScript = agents[0].GetComponent <AgentBehaviourRemote>();
//List<double> weights = AgentBehaviourScript.downloadNet();
//writeData(listToCsv(weights), "AgentWeights");
//**** begin export stats scores
string rewardString = "";
List <int> sum = new List <int>();
string c = ",";
char comma = c[0];
string temp2 = agents[0].GetComponent <AgentBehaviourRemote>().rewardString.TrimEnd();
temp2 = temp2.Substring(0, temp2.Length - 1);
string[] tempArray2 = temp2.Split(comma);
for (int i = 0; i < tempArray2.Length; i++)
{
sum.Add(0);
}
double replayEntropySum = 0f;
double replayCuriositySum = 0f;
double rewardSum = 0f;
List <double> fitnessList = new List <double>();
foreach (GameObject agent in agents)
{
AgentBehaviourScript = agent.GetComponent <AgentBehaviourRemote>();
string temp = AgentBehaviourScript.rewardString.TrimEnd();
temp = temp.Substring(0, temp.Length - 1);
string[] tempArray = temp.Split(comma);
List <int> integerList = new List <int>();
for (int i = 0; i < tempArray.Length; i++)
{
int item;
int.TryParse(tempArray[i], out item);
integerList.Add(item);
}
for (int i = 0; i < sum.Count; i++)
{
sum[i] = sum[i] + integerList[i];
}
fitnessList.Add(AgentBehaviourScript.getFitness());
Debug.Log(agent.name + " fitness " + AgentBehaviourScript.getFitness());
}
double[] result = new double[tempArray2.Length];
for (int i = 0; i < sum.Count; i++)
{
result[i] = (double)sum.ElementAt(i) / agents.Length;
}
rewardString = listToCsv(result.ToList());
List <int> BestIndexes = new List <int>();
int index = fitnessList.IndexOf(fitnessList.Max());
BestIndexes.Add(index);
fitnessList[index] = -999999f;
index = fitnessList.IndexOf(fitnessList.Max());
BestIndexes.Add(index);
fitnessList[index] = -999999f;
index = fitnessList.IndexOf(fitnessList.Max());
BestIndexes.Add(index);
fitnessList[index] = -999999f;
List <double> firstCandidate = new List <double>();
List <double> secondCandidate = new List <double>();
List <double> thirdCandidate = new List <double>();
for (int i = 0; i < BestIndexes.Count; i++)
{
AgentBehaviourScript = agents[BestIndexes[i]].GetComponent <AgentBehaviourRemote>();
Debug.Log(i + " " + agents[BestIndexes[i]].name + " " + AgentBehaviourScript.getFitness());
if (i == 0)
{
firstCandidate = AgentBehaviourScript.downloadNet();
}
if (i == 1)
{
secondCandidate = AgentBehaviourScript.downloadNet();
}
if (i == 2)
{
thirdCandidate = AgentBehaviourScript.downloadNet();
}
replayEntropySum += AgentBehaviourScript.getReplayEntropy();
replayCuriositySum += AgentBehaviourScript.getReplayCuriosity();
rewardSum += AgentBehaviourScript.getFitness();
}
string replayEntropy = (replayEntropySum / 3).ToString();
string replayCuriosity = (replayCuriositySum / 3).ToString();
string replayReward = (rewardSum / 3).ToString();
writeDataAppend((replayEntropy + ",").TrimEnd(), "agents.Entropy");
writeDataAppend((replayCuriosity + ",").TrimEnd(), "agents.Curiosity");
writeDataAppend((replayReward + ",").TrimEnd(), "agents.Reward");
double replayCuriositySumAll = 0f;
double rewardSumAll = 0f;
foreach (var a in agents)
{
AgentBehaviourScript = a.GetComponent <AgentBehaviourRemote>();
replayCuriositySumAll += AgentBehaviourScript.getReplayCuriosity();
rewardSumAll += AgentBehaviourScript.getFitness();
}
writeDataAppend((replayCuriositySumAll / agents.Length + ",").TrimEnd(), "agents.CuriosityAll");
writeDataAppend((rewardSumAll / agents.Length + ",").TrimEnd(), "agents.RewardAll");
for (int i = 0; i < agents.Length; i++)
{
DestroyImmediate(agents[i]);
}
for (int i = 0; i < agents.Length; i++)
{
GameObject temp = Instantiate(singleAgent, positions[i], Quaternion.identity) as GameObject;
temp.name = "agent" + i.ToString();
temp.tag = "agent";
agents[i] = temp;
}
//evolving
evolved[0] = mating(firstCandidate, secondCandidate);
evolved[1] = mating(secondCandidate, firstCandidate);
evolved[2] = mating(firstCandidate, thirdCandidate);
evolved[3] = mating(secondCandidate, thirdCandidate);
evolved[4] = mutation(thirdCandidate);
evolved[5] = mutation(firstCandidate);
StartCoroutine(updateAgents());
/*
*
* Debug.Log("first candidate");
*
* printListDouble(firstCandidate);
*
* Debug.Log("second candidate");
*
* printListDouble(secondCandidate);
*
* Debug.Log("evolved 0");
*
* printListDouble(evolved[0]);
*
* Debug.Log("evolved 1");
*
* printListDouble(evolved[1]);
*
* Debug.Log("evolved 2");
*
* printListDouble(evolved[2]);
*
* Debug.Log("evolved 3");
*
* printListDouble(evolved[3]);
*
*/
saveEvolved();
}
