public double Train(Vector p_state0, int p_action0, Vector p_state1, float p_reward, bool p_final = false)
{
float mse = 0;
float maxQs1a = CalcMaxQa(p_state1);
// updating phase for Q(s,a)
_networkQ.Activate(p_state0);
Vector target = Vector.Copy(_networkQ.Output);
if (p_final)
{
target[p_action0] = p_reward;
}
else
{
target[p_action0] = p_reward + _gamma * maxQs1a;
}
mse = _optimizer.Train(p_state0, target);
Vector.Release(target);
_asyncUnit.Update(p_final);
if (_asyncUnit.IsAsyncReady)
{
_optimizer.AsyncUpdate();
}
return(mse);
}
override public double Train(Vector p_state0, int p_action, Vector p_state1, float p_reward, bool p_final)
{
double mse = 0;
_stack.Push(new StackItem {
State = Vector.Copy(p_state0), Action = p_action, Reward = p_reward
});
_asyncUnit.Update(p_final);
if (_asyncUnit.IsAsyncReady)
{
int criticOutput = _thNetwork.Output.Size - 1;
float value1 = _thNetwork.Activate(p_state1)[criticOutput];
float R = p_final ? 0f : value1;
while (_stack.Count > 0)
{
StackItem item = (StackItem)_stack.Pop();
R = item.Reward + _gamma * R;
Vector target = Vector.Copy(_thNetwork.Activate(item.State));
float value0 = _thNetwork.Activate(p_state0)[criticOutput];
target[p_action] = R - value0;
target[criticOutput] = R;
mse += _thOptimizer.Train(item.State, target);
Vector.Release(item.State);
Vector.Release(target);
}
_optimizer.AsyncUpdate(_thOptimizer);
_thNetwork.OverrideParams(_network);
}
return(mse);
}
