void Learn(PolarCoord s1, HandleAction a, PolarCoord s2, float reward)
{
const float alpha = 0.1f;
const float gamma = 0.99f;
QTable[s1][a] += alpha * (reward + gamma * QTable[s2].Values.Max() - QTable[s1][a]);
}
public override Actions RunStep(States states)
{
PolarCoord nowState = (PolarCoord)StateFactory.FromRawState(states);
HandleAction decision = (HandleAction)ActionFactory.Random();
Debug(nowState.DebugStr());
if (states.episode_i == CurrentEpisode)
{
Store(PrevState, PrevAction, nowState);
Learn();
decision = Policy(nowState);
}
else
{
CurrentEpisode = states.episode_i;
}
PrevState = nowState;
PrevAction = decision;
bool shoot = states.bullet_num2 != 0 && nowState.RawAbsPhi < 60;
return(decision.ToRawAction(shoot));
}
float Reward(PolarCoord s1, HandleAction a, PolarCoord s2)
{
float reward = 0;
reward += -(s2.RawAbsPhi / 180f * 10f);
reward += s2.RawAbsTheta / 180f * 10f;
reward += s2.RawDistance > 800 ? -20 : 0;
return(reward);
}
void Store(PolarCoord s1, HandleAction a, PolarCoord s2)
{
const int bufsize = 1000;
History.Add(new Step <PolarCoord, HandleAction>(s1, a, s2));
if (History.Count() > bufsize)
{
History.RemoveAt(0);
}
}
float Reward(PolarCoord s1, HandleAction a, PolarCoord s2)
{
return(-s2.AbsPhi + s2.AbsTheta + s2.Distance * (s2.RawAbsTheta < 90 ? -1 : 1));
}
