public void trainingStep(int ability, ref int pass)
{
pass++;
// 1. initiating ability
state = stAbilityExecuting;
// storing chosen ability
LastUsedAbility = ability;
// storing current input vectors
LastInputVecs = Cart.makeInputVector();
// finding the input vector for the top node
TopNodeInput = new double[Cart.CogTop.InputNum];
int i;
for (i = 0; i < Cart.CogTop.InputNum; i++)
{
TopNodeInput[i] = MetaNode.getOutput(Cart.CogTop.Children[i], LastInputVecs, pass);
}
// now training
double[] DesiredOutputVec = STANN.mapInt2VectorDouble(ability, 2, Cart.CogTop.stann.OutputNum);
// training 6 times
for (i = 0; i < 6; i++)
{
Cart.CogTop.stann.backPropagate(TopNodeInput, DesiredOutputVec);
}
// executing ability now..
Cart.useAbility((t_CartAbility)ability);
}
public static double getOutputNoUpdate(MetaNode mnet, double[][] inputvec, int pass)
{
int i;
double[] sigmoids;
double theoutput;
if (mnet.ChildrenNum == 0)
{
if (mnet.OutputPass != pass)
{
mnet.OutputPass = pass;
// self training if the node has its ForceSelfTrain attribute set to true
// retrieving the sigmoids of the node
sigmoids = mnet.stann.sigmoidLayerOutputs(inputvec[mnet.LeafIndex], mnet.stann.LayerNum - 1);
// calculating the decimal equivalent to the ordered thresholded sigmoid outputs
theoutput = STANN.mapVector2Int(sigmoids, 2, mnet.stann.OutputNum);
}
else
{
theoutput = mnet.NoUpdatePassOutput;
}
}
else
{
if (mnet.OutputPass != pass)
{
mnet.OutputPass = pass;
double[] levelinput = new double[mnet.InputNum];
for (i = 0; i < mnet.InputNum; i++)
{
if (mnet.Children[i].NodeLevel >= mnet.NodeLevel) // requesting output from a higher (or equal ) level node
{
levelinput[i] = mnet.Children[i].PreviousOutput; // avoiding circular reference in recursion
}
else
{
levelinput[i] = getOutputNoUpdate(mnet.Children[i], inputvec, pass);
}
}
// retrieving sigmoids
sigmoids = mnet.stann.sigmoidLayerOutputs(levelinput, mnet.stann.LayerNum - 1);
// calculating the decimal equivalent to the thresholded outputs
theoutput = STANN.mapVector2Int(sigmoids, 2, mnet.stann.OutputNum);
}
else
{
theoutput = mnet.CurrentOutput;
}
}
return(theoutput);
}
// return the maximum reward in the Reward Table for a given input
/* public double getMaximumQValue(int inputindex)
* {
* double maxQ = QTable[inputindex][0];
* int maxQindex = 0;
*
* int i;
* int possibleoutputs = (int)Math.Pow(2, stann.OutputNum);
*
* for (i = 0; i < possibleoutputs; i++)
* if (maxQ < QTable[inputindex][i])
* {
* maxQ = QTable[inputindex][i];
* maxQindex = i;
* }
* return QTable[inputindex][maxQindex];
* }*/
// given the last input(previousInputVec) caused PreviousOutput(which led to a satisfactory result),
//we may assign a reward to the new state that came up, thus backtracking and updating the rewards for
// a finite number of steps (input-output) that superceeded this succesfull ending
/*
* public void assignReward(double[] currentinputvec, double reward)
* {
* int previousinput = 0, currentinput = 0, i;
* for (i = 0; i < InputNum; i++) {
* previousinput += (int)(Math.Pow(InputRange, i) * PreviousInputVec[i]);
* currentinput += (int)(Math.Pow(InputRange, i) * currentinputvec[i]);
* }
*
* RewardTable[currentinput] = reward;
*
* // Updating the rewards in the Reward table using the log entry
* double currentStepReward = reward;
* int tempinput = currentinput;
*
* for (i = IOLogLength - 1; i >= 0; i--)
* {
* // updating the q-value for the input-output log entry (in three lines)
* QTable[IOLog[i].input][IOLog[i].output] = (1 - Qalpha) * QTable[IOLog[i].input][IOLog[i].output];
* QTable[IOLog[i].input][IOLog[i].output] += Qalpha * RewardTable[tempinput];
* QTable[IOLog[i].input][IOLog[i].output] += Qalpha * Qgamma * getMaximumQValue(tempinput);
* // Q-value of the entry updated
* tempinput = IOLog[i].input;
* }
*
* // clearing the IO Log to avoid re-assigning Q values on the same chain of actions when a new reward appears
* clearIOLog();
* }
*/
public void assignReward(double[] currentinputvec, double reward)
{
int i;
// mapping previous and current input vectors to integers
int previousinput = STANN.mapVector2Int(PreviousInputVec, InputRange, InputNum);
int currentinput = STANN.mapVector2Int(currentinputvec, InputRange, InputNum);
// adding a reward entry for the current input
RewardTableEntry.updateRewardEntry(ref RewardTable, currentinput, reward);
// Updating the Q - values in the Q table using the existing log entries
double currentStepReward = reward;
int tempinput = currentinput;
for (i = IOLogLength - 1; i >= 0; i--)
{
// retrieving the Q -table entry for the current input in the log
QTableEntry entry = QTableEntry.findQTableEntry(QTable, IOLog[i].input, IOLog[i].output);
if (entry == null)
{
QTableEntry.assignQValue(ref QTable, IOLog[i].input, IOLog[i].output, 0);
entry = QTableEntry.findQTableEntry(QTable, IOLog[i].input, IOLog[i].output);
}
else
{
entry.Frequency++;
}
// The Non-Deterministic MDP coefficient
double NDPCoefficient = 1.0 / (1.0 + 1.0 * entry.Frequency);
double qvalue = entry.QValue;
// updating the q-value for the input-output log entry (in three lines)
qvalue = NDPCoefficient * (1 - Qalpha) * qvalue;
qvalue += NDPCoefficient * Qalpha * RewardTableEntry.getReward(RewardTable, tempinput);
qvalue += NDPCoefficient * Qalpha * Qgamma * QTableEntry.getMaxQValue(QTable, tempinput).QValue;
entry.QValue = qvalue;
// Q-value of the entry updated
tempinput = IOLog[i].input;
}
}
public MetaNode(int rawinputnum, MetaNode[] children, int childrennum,
MetaNode[] parents, int parentnum, int nodeoutputnum,
int rawinputrange, int layernum, int neuronnum,
double threshold, double lr, Random rand,
Boolean forceSelfTrain, Boolean forcedQLearning,
int nodelevel, double alpha, double gamma, int leafindex)
{
int i;
RawInputNum = rawinputnum;
ChildrenNum = childrennum;
LayerNum = layernum;
NeuronNum = neuronnum;
Threshold = threshold;
LR = lr;
rnd = rand;
ParentNum = parentnum;
ForcedSelfTrain = forceSelfTrain;
ForcedQLearning = forcedQLearning;
NodeLevel = nodelevel;
Qalpha = alpha;
Qgamma = gamma;
LeafIndex = leafindex;
// copying children array. also figuring out the input range for the stann
int maxrange = rawinputrange;
Children = new MetaNode[ChildrenNum];
for (i = 0; i < ChildrenNum; i++)
{
Children[i] = children[i];
Children[i].addParent(this);
maxrange = (maxrange < Math.Pow(2, Children[i].stann.OutputNum)) ? (int)Math.Pow(2, Children[i].stann.OutputNum) : maxrange;
}
InputRange = maxrange;
// copying parent array
for (i = 0; i < ParentNum; i++)
{
Parents[i] = parents[i];
}
InputNum = getInputNum();
// now creating the STANN or the ANN of the node
stann = new STANN(InputNum, InputRange, LayerNum,
NeuronNum, nodeoutputnum, Threshold, LR, rnd, ForcedSelfTrain);
// initializing previous input vector and previous output properties to zero
CurrentOutput = PreviousOutput = 0;
OutputPass = 0;
PreviousInputVec = new double[InputNum];
for (i = 0; i < InputNum; i++)
{
PreviousInputVec[i] = 0;
}
// initializing the Reward Table and table of Q-values for possible Q-learning use (or abuse :))
// if the ForcedQLearning Property is set
if (ForcedQLearning)
{/*
* int possibleinputs = (int)Math.Pow(InputRange, InputNum);
* int possibleoutputs = (int)Math.Pow(2, stann.OutputNum);
*
* QTable = new double[possibleinputs][];
* RewardTable = new double[possibleinputs];
* for (i = 0; i < possibleinputs; i++)
* {
* QTable[i] = new double[possibleoutputs];
* RewardTable[i] = 0;
* for (j = 0; j < possibleoutputs; j++)
* QTable[i][j] = 0;
* } */
RewardTable = null;
QTable = null;
// initializing the IO log
IOLog = new NodeIOLogEntry[MAX_IO_LOG_LENGTH];
IOLogLength = 0;
}
}
// return the output of a MetaNode branch given the input vector to the leaves
/*
* public static double getOutput(MetaNode mnet, double[][] inputvec, int pass)
* {
* int i;
* double[] sigmoids;
* double theoutput;
*
* if (mnet.ChildrenNum == 0)
* {
* if (mnet.OutputPass != pass)
* {
* mnet.OutputPass = pass;
* // self training if the node has its ForceSelfTrain attribute set to true
* if (mnet.ForcedSelfTrain)
* // self training
* mnet.stann.selfTrain(inputvec[mnet.LeafIndex]);
*
* // retrieving the sigmoids of the node
* sigmoids = mnet.stann.sigmoidLayerOutputs(inputvec[mnet.LeafIndex], mnet.stann.LayerNum - 1);
* // calculating the decimal equivalent to the ordered thresholded sigmoid outputs
* theoutput = STANN.mapVector2Int(sigmoids, 2, mnet.stann.OutputNum);
*
* mnet.PreviousOutput = mnet.CurrentOutput;
* mnet.CurrentOutput = theoutput;
* }
* else
* theoutput = mnet.CurrentOutput;
*
* }
* else
* {
* if (mnet.OutputPass != pass)
* {
* mnet.OutputPass = pass;
* double[] levelinput = new double[mnet.InputNum];
*
* for (i = 0; i < mnet.InputNum; i++)
* if (mnet.Children[i].NodeLevel >= mnet.NodeLevel) // requesting output from a higher (or equal ) level node
* levelinput[i] = mnet.Children[i].PreviousOutput; // avoiding circular reference in recursion
* else
* levelinput[i] = getOutput(mnet.Children[i], inputvec, pass);
*
* // self training if the aselfrain attribute is on
* if (mnet.ForcedSelfTrain) mnet.stann.selfTrain(levelinput);
* // retrieving sigmoids
* sigmoids = mnet.stann.sigmoidLayerOutputs(levelinput, mnet.stann.LayerNum - 1);
* // calculating the decimal equivalent to the thresholded outputs
* theoutput = 0;
* for (i = 0; i < mnet.stann.OutputNum; i++)
* {
* int bit = (sigmoids[i] < 0.5) ? 0 : 1;
* theoutput += (int)Math.Pow(2, i) * bit;
* }
* // updating previous Input Vector and Previous Output properties of the metanode
* int t;
* mnet.PreviousInputVec = new double[mnet.InputNum];
* for (t = 0; t < mnet.InputNum; t++)
* mnet.PreviousInputVec[t] = levelinput[t];
* mnet.PreviousOutput = mnet.CurrentOutput;
* mnet.CurrentOutput = theoutput;
* // previous input vector and output updated with the new values
*
* // Must now train the network!!!! (in case the qlearning property is on)
* if (mnet.ForcedQLearning)
* {
* // mapping the input to the proper index in the reward table
* int inputindex = 0;
* for (t = 0; t < mnet.InputNum; t++)
* inputindex += (int)(Math.Pow(mnet.InputRange, t) * levelinput[t]);
* // finding the output that corresponds to the maximum Qvaluefor the given input
* double maxQvalue = mnet.getMaximumQValue(inputindex);
* int maxQvalueOutputindex = 0;
* while (mnet.QTable[inputindex][maxQvalueOutputindex] != maxQvalue)
* maxQvalueOutputindex++;
*
* // converting the maximum Q value output to a vector of binary digits
* double[] desiredOutput = mnet.stann.int2BinaryVector(maxQvalueOutputindex);
* // now training...
* mnet.stann.backPropagate(levelinput, desiredOutput);
* // updating the IO log
* if (mnet.IOLogLength == MAX_IO_LOG_LENGTH)
* { // IO Log is full
* // clearing the log and starting all over again
* mnet.IOLogLength = 1;
* }
* else
* mnet.IOLogLength++;
* // updating the IO log entries
* mnet.IOLog[mnet.IOLogLength - 1].input = inputindex;
* mnet.IOLog[mnet.IOLogLength - 1].output = (int)theoutput;
*
* }
* }
* else
* theoutput = mnet.CurrentOutput;
*
* }
*
* return theoutput;
* }
*/
public static double getOutput(MetaNode mnet, double[][] inputvec, int pass)
{
int i;
double[] sigmoids;
double theoutput;
if (mnet.ChildrenNum == 0)
{
if (mnet.OutputPass != pass)
{
mnet.OutputPass = pass;
// self training if the node has its ForceSelfTrain attribute set to true
if (mnet.ForcedSelfTrain)
{
// self training
mnet.stann.selfTrain(inputvec[mnet.LeafIndex]);
}
// retrieving the sigmoids of the node
sigmoids = mnet.stann.sigmoidLayerOutputs(inputvec[mnet.LeafIndex], mnet.stann.LayerNum - 1);
// calculating the decimal equivalent to the ordered thresholded sigmoid outputs
theoutput = STANN.sigmoids2Int(sigmoids, mnet.stann.OutputNum);
mnet.PreviousOutput = mnet.CurrentOutput;
mnet.CurrentOutput = theoutput;
}
else
{
theoutput = mnet.CurrentOutput;
}
}
else
{
if (mnet.OutputPass != pass)
{
mnet.OutputPass = pass;
double[] levelinput = new double[mnet.InputNum];
for (i = 0; i < mnet.InputNum; i++)
{
if (mnet.Children[i].NodeLevel >= mnet.NodeLevel) // requesting output from a higher (or equal ) level node
{
levelinput[i] = mnet.Children[i].PreviousOutput; // avoiding circular reference in recursion
}
else
{
levelinput[i] = getOutput(mnet.Children[i], inputvec, pass);
}
}
// self training if the aselfrain attribute is on
if (mnet.ForcedSelfTrain)
{
mnet.stann.selfTrain(levelinput);
}
// retrieving sigmoids
sigmoids = mnet.stann.sigmoidLayerOutputs(levelinput, mnet.stann.LayerNum - 1);
// calculating the decimal equivalent to the thresholded outputs
theoutput = STANN.mapVector2Int(sigmoids, 2, mnet.stann.OutputNum);
// updating previous Input Vector and Previous Output properties of the metanode
int t;
mnet.PreviousInputVec = new double[mnet.InputNum];
for (t = 0; t < mnet.InputNum; t++)
{
mnet.PreviousInputVec[t] = levelinput[t];
}
mnet.PreviousOutput = mnet.CurrentOutput;
mnet.CurrentOutput = theoutput;
// previous input vector and output updated with the new values
// Must now train the network!!!! (in case the qlearning property is on)
if (mnet.ForcedQLearning)
{
// mapping the input to the proper index in the reward table
int inputindex = STANN.mapVector2Int(levelinput, mnet.InputRange, mnet.InputNum);
// finding the output that corresponds to the maximum Qvaluefor the given input
QTableEntry maxQvalueEntry = QTableEntry.getMaxQValue(mnet.QTable, inputindex);
if (maxQvalueEntry != null)
{
// converting the maximum Q value output to a vector of binary digits
double[] desiredOutput = STANN.mapInt2VectorDouble(maxQvalueEntry.Output, 2, mnet.stann.OutputNum);
// now training...
mnet.stann.backPropagate(levelinput, desiredOutput);
}
// updating the IO log
if (mnet.IOLogLength == MAX_IO_LOG_LENGTH)
{ // IO Log is full
// clearing the log and starting all over again
mnet.IOLogLength = 1;
}
else
{
mnet.IOLogLength++;
}
// updating the IO log entries
mnet.IOLog[mnet.IOLogLength - 1].input = inputindex;
mnet.IOLog[mnet.IOLogLength - 1].output = (int)theoutput;
}
}
else
{
theoutput = mnet.CurrentOutput;
}
}
return(theoutput);
}
// adds a child to the node. the STANN MUST be recreated (due to change on the inputs)
public void addChild(MetaNode child)
{
int i;
MetaNode[] temp;
if (ChildrenNum == 0)
{
// increase the number of children
ChildrenNum++;
// increase the number of inputs as well!
InputNum++;
Children = new MetaNode[ChildrenNum];
}
else
{
temp = new MetaNode[ChildrenNum];
for (i = 0; i < ChildrenNum; i++)
{
temp[i] = Children[i];
}
// increase number of children
ChildrenNum++;
// increase number of inputs as well!
InputNum++;
Children = new MetaNode[ChildrenNum];
for (i = 0; i < ChildrenNum - 1; i++)
{
Children[i] = temp[i];
}
}
Children[ChildrenNum - 1] = child;
int newinputrange, curoutputnum = stann.OutputNum;
if (stann.InputRange < (int)Math.Pow(2, child.stann.OutputNum))
{
newinputrange = (int)Math.Pow(2, child.stann.OutputNum);
InputRange = newinputrange;
}
else
{
newinputrange = stann.InputRange;
InputRange = stann.InputRange;
}
// recreating the STANN
stann = new STANN(getInputNum(), newinputrange, LayerNum,
NeuronNum, curoutputnum, Threshold, LR, rnd, ForcedSelfTrain);
if (ForcedQLearning)
{
// Re-initializing the Reward Table and table of Q-values for possible Q-learning use (or abuse :))
/*
* int possibleinputs = (int)Math.Pow(InputRange, InputNum);
* int possibleoutputs = (int)Math.Pow(2, stann.OutputNum);
*
* QTable = new double[possibleinputs][];
* RewardTable = new double[possibleinputs];
* for (i = 0; i < possibleinputs; i++)
* {
* QTable[i] = new double[possibleoutputs];
* RewardTable[i] = 0;
* for (j = 0; j < possibleoutputs; j++)
* QTable[i][j] = 0;
* }
*/
RewardTable = null;
QTable = null;
}
// Re-creating the previous input vector
PreviousInputVec = new double[InputNum];
for (i = 0; i < InputNum; i++)
{
PreviousInputVec[i] = 0;
}
}
public MetaNode(int rawinputnum, MetaNode[] children, int childrennum,
MetaNode[] parents, int parentnum, int nodeoutputnum,
int rawinputrange, int layernum, int neuronnum,
double threshold, double lr, Random rand,
Boolean forceSelfTrain, Boolean forcedQLearning,
int nodelevel, double alpha, double gamma, int leafindex)
{
int i;
RawInputNum = rawinputnum;
ChildrenNum = childrennum;
LayerNum = layernum;
NeuronNum = neuronnum;
Threshold = threshold;
LR = lr;
rnd = rand;
ParentNum = parentnum;
ForcedSelfTrain = forceSelfTrain;
ForcedQLearning = forcedQLearning;
NodeLevel = nodelevel;
Qalpha = alpha;
Qgamma = gamma;
LeafIndex = leafindex;
// copying children array. also figuring out the input range for the stann
int maxrange = rawinputrange;
Children = new MetaNode[ChildrenNum];
for (i = 0; i < ChildrenNum; i++)
{
Children[i] = children[i];
Children[i].addParent(this);
maxrange = (maxrange < Math.Pow(2, Children[i].stann.OutputNum)) ? (int)Math.Pow(2, Children[i].stann.OutputNum) : maxrange;
}
InputRange = maxrange;
// copying parent array
for (i = 0; i < ParentNum; i++)
Parents[i] = parents[i];
InputNum = getInputNum();
// now creating the STANN or the ANN of the node
stann = new STANN(InputNum, InputRange, LayerNum,
NeuronNum, nodeoutputnum, Threshold, LR, rnd, ForcedSelfTrain);
// initializing previous input vector and previous output properties to zero
CurrentOutput = PreviousOutput = 0;
OutputPass = 0;
PreviousInputVec = new double[InputNum];
for (i = 0; i < InputNum; i++)
PreviousInputVec[i] = 0;
// initializing the Reward Table and table of Q-values for possible Q-learning use (or abuse :))
// if the ForcedQLearning Property is set
if (ForcedQLearning)
{/*
int possibleinputs = (int)Math.Pow(InputRange, InputNum);
int possibleoutputs = (int)Math.Pow(2, stann.OutputNum);
QTable = new double[possibleinputs][];
RewardTable = new double[possibleinputs];
for (i = 0; i < possibleinputs; i++)
{
QTable[i] = new double[possibleoutputs];
RewardTable[i] = 0;
for (j = 0; j < possibleoutputs; j++)
QTable[i][j] = 0;
} */
RewardTable = null;
QTable = null;
// initializing the IO log
IOLog = new NodeIOLogEntry[MAX_IO_LOG_LENGTH];
IOLogLength = 0;
}
}
// adds a child to the node. the STANN MUST be recreated (due to change on the inputs)
public void addChild(MetaNode child)
{
int i;
MetaNode[] temp;
if (ChildrenNum == 0)
{
// increase the number of children
ChildrenNum++;
// increase the number of inputs as well!
InputNum++;
Children = new MetaNode[ChildrenNum];
}
else
{
temp = new MetaNode[ChildrenNum];
for (i = 0; i < ChildrenNum; i++)
temp[i] = Children[i];
// increase number of children
ChildrenNum++;
// increase number of inputs as well!
InputNum++;
Children = new MetaNode[ChildrenNum];
for (i = 0; i < ChildrenNum - 1; i++)
Children[i] = temp[i];
}
Children[ChildrenNum - 1] = child;
int newinputrange, curoutputnum = stann.OutputNum;
if (stann.InputRange < (int)Math.Pow(2, child.stann.OutputNum))
{
newinputrange = (int)Math.Pow(2, child.stann.OutputNum);
InputRange = newinputrange;
}
else
{
newinputrange = stann.InputRange;
InputRange = stann.InputRange;
}
// recreating the STANN
stann = new STANN(getInputNum(), newinputrange, LayerNum,
NeuronNum, curoutputnum, Threshold, LR, rnd, ForcedSelfTrain);
if (ForcedQLearning)
{
// Re-initializing the Reward Table and table of Q-values for possible Q-learning use (or abuse :))
/*
int possibleinputs = (int)Math.Pow(InputRange, InputNum);
int possibleoutputs = (int)Math.Pow(2, stann.OutputNum);
QTable = new double[possibleinputs][];
RewardTable = new double[possibleinputs];
for (i = 0; i < possibleinputs; i++)
{
QTable[i] = new double[possibleoutputs];
RewardTable[i] = 0;
for (j = 0; j < possibleoutputs; j++)
QTable[i][j] = 0;
}
*/
RewardTable = null;
QTable = null;
}
// Re-creating the previous input vector
PreviousInputVec = new double[InputNum];
for (i = 0; i < InputNum; i++)
PreviousInputVec[i] = 0;
}