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();
}
protected Bitmap VisualizeAcrobot()
{
int res = 1200;
Bitmap bm = new Bitmap(res, res);
Graphics g = Graphics.FromImage(bm);
AcrobotEnvironmentSimulator2 simm = new AcrobotEnvironmentSimulator2();
double sumreward = 0;
double[] state = new double[] { -Math.PI, 0, 0, 0};
for (int i = 0; i < 300; ++i)
{
double M;
double q_act;
double reward;
GetAction(state, out M, out q_act, true);
simm.Simulate(state, new double[] { M }, dT, out state, out reward);
sumreward += reward;
if (i % 1 == 0)
{
float zx = 75 + ((i % 100)) * 10;
float zy = 150 + 150 * (i/100);
float z = 50;
float e1x = zx + (float)(z * simm.Length1 * Math.Sin(simm.Angle1));
float e1y = zy - (float)(z * simm.Length1 * Math.Cos(simm.Angle1));
float e2x = e1x + (float)(z * simm.Length2 * Math.Sin(simm.Angle1 + simm.Angle2));
float e2y = e1y - (float)(z * simm.Length2 * Math.Cos(simm.Angle1 + simm.Angle2));
//float e1x = zx + (float)(z * simm.Length1 * Math.Cos(simm.Angle1));
//float e1y = zy - (float)(z * simm.Length1 * Math.Sin(simm.Angle1));
//float e2x = e1x + (float)(z * simm.Length2 * Math.Cos(simm.Angle1 + simm.Angle2));
//float e2y = e1y - (float)(z * simm.Length2 * Math.Sin(simm.Angle1 + simm.Angle2));
Pen p = new Pen(Color.Black);
g.DrawLine(p, zx, zy, e1x, e1y);
p.Color = Color.Red;
g.DrawLine(p, e1x, e1y, e2x, e2y);
}
}
g.DrawString("sum reward: " + sumreward, new Font("Arial", 20), new SolidBrush(Color.Black), 20, 20);
Console.Out.WriteLine(sumreward);
if (bestsumreward < sumreward)
{
bestsumreward = sumreward;
bm.Save("acrobot.png");
}
return bm;
}
