public RlEpisod(RlSearch <StateId_t, Action_t> search, RlModel <StateId_t, Action_t> model, RlTree <StateId_t, Action_t>[] searchTrees, RlSearchParams searchParams)
{
m_search = search;
m_model = model;
m_searchModel = m_model.rlModelClone();
m_searchTrees = searchTrees;
m_records = new RlRecord[m_model.rlModelGetActorsCount(), searchParams.maxGameLength + 10];
m_recordsCount = new int[m_model.rlModelGetActorsCount()];
m_searchParams = searchParams;
//m_searchParams.biasTermConstant = Math.Sqrt(Math.Log(maxGames));
}
// Thread based search
public void Search(RlSearchParams searchParams)
{
m_searchParams = searchParams;
m_searchThread = new Thread(Start);
int actorsCount = m_model.rlModelGetActorsCount();
m_searchTrees = new RlTree <StateId_t, Action_t> [actorsCount];
for (int index = 0; index < m_searchTrees.Length; ++index)
{
m_searchTrees[index] = new RlTree <StateId_t, Action_t>();
}
// Start the search thread
m_running = true;
m_searchThread.Start();
}
public void Generate()
{
int actorId;
// Copy the original model into the search model
m_searchModel.rlModelCopy(m_model);
//m_searchModel = m_model.rlModelClone();
m_searchModel.rlModelInitES();
// Track whether the actor is in playout mode
bool[] playouts = new bool[m_model.rlModelGetActorsCount()];
// Track the number of records for each actor
Array.Clear(m_recordsCount, 0, m_recordsCount.Length);
// Track the current node of each actor into the tree
RlNode <StateId_t, Action_t>[] currentNode = new RlNode <StateId_t, Action_t> [m_model.rlModelGetActorsCount()];
for (actorId = 0; actorId < currentNode.Length; ++actorId)
{
currentNode[actorId] = m_searchTrees[actorId].m_root;
m_records[actorId, m_recordsCount[actorId]++] = new RlRecord(currentNode[actorId], -1, 0.0);
}
// Play a game
int gameLength = 0;
while (!m_searchModel.rlModelStateIsTerminal(m_model, m_searchParams.maxGameLength))
{
int actionIndex = -1;
Action_t action;
actorId = m_searchModel.rlModelGetActorToAct();
// Find an action to be applied to the actor
if (playouts[actorId])
{
m_searchModel.rlModelRandomAction(actorId, out action);
}
else
{
m_searchTrees[actorId].AddState(m_searchModel, actorId, ref currentNode[actorId]);
actionIndex = SelectAction(currentNode[actorId]);
if (actionIndex >= 0)
{
action = currentNode[actorId].m_actions[actionIndex].m_action;
playouts[actorId] = currentNode[actorId].m_actions[actionIndex].m_stats.m_count < m_searchParams.expandThreshold;
}
else
{
m_searchModel.rlModelActionGetNone(out action);
playouts[actorId] = true;
}
}
// If there is no valid action for the actor, then the search is over
if (m_searchModel.rlModelActionIsNone(ref action))
{
break;
}
// Apply the action
double reward = m_searchModel.rlModelApplyAction(actorId, action);
// Save the action into the episode history
m_records[actorId, m_recordsCount[actorId]++] = new RlRecord(currentNode[actorId], actionIndex, reward);
gameLength++;
}
double[] rewards = new double[m_searchModel.rlModelGetActorsCount()];;
if (m_searchModel.rlModelStateIsTerminal(m_model, m_searchParams.maxGameLength))
{
m_searchModel.rlModelEstimate(m_model, ref rewards, m_searchParams.searchModelTag);
m_search.m_avgEstimateGameLength += (gameLength - m_search.m_avgEstimateGameLength) / ++m_search.m_estimateGames;
}
else
{
m_searchModel.rlModelEvaluate(actorId, ref rewards);
m_search.m_avgEvaluateGameLength += (gameLength - m_search.m_avgEvaluateGameLength) / ++m_search.m_evaluateGames;
}
// Add a final record to the episode to reflect the final rewards
for (actorId = 0; actorId < rewards.Length; ++actorId)
{
m_records[actorId, m_recordsCount[actorId]++] = new RlRecord(null, -1, rewards[actorId]);
}
}