void Update()
{
// get current state and compare with last
var currentState = DetermineState();
if (currentState.Equals(lastState))
{
// do nothing if state did not change
return;
}
// state changed => select an action and execute it
var action = SelectAction(currentState);
ExecuteAction(action);
// Update QTable
var reward = birdMvmt.IsDead() ? -1000 : 10 / (int)(Mathf.Abs(currentState.vDist) + 1.001);
if (birdMvmt.IsDead())
{
FileWriter.WriteTable(qLearningTable, "qLearningTable");
birdMvmt.ResetIsDead();
}
Debug.Log("State: " + currentState + " SelectedAction: " + action + " Reward: " + reward);
qLearningTable[lastState][lastAction] += alpha * (reward + gamma * Mathf.Max((float)qLearningTable[currentState][Action.Flap], (float)qLearningTable[currentState][Action.Nop]) - qLearningTable[lastState][lastAction]);
// update lastState
lastState = currentState;
lastAction = action;
}
