/// <summary>
/// Returns an action from a state
/// </summary>
/// <param name="state">state size must be equal to NumberOfStates</param>
/// <returns></returns>
public int Act(double[] state)
{
Tembo.Assert(state.Length == NumberOfStates, $"Current state({state.Length}) not equal to NS({NumberOfStates})");
var a = 0;
// convert to a Mat column vector
var s = new Matrix(NumberOfStates, 1);
s.Set(state);
// epsilon greedy policy
if (Tembo.Random() < Options.Epsilon)
{
a = Tembo.RandomInt(0, NumberOfActions);
}
else
{
// greedy wrt Q function
var amat = ForwardQ(Network, s, false);
a = Tembo.Maxi(amat.W); // returns index of argmax action
}
// shift state memory
this.s0 = this.s1;
this.a0 = this.a1;
this.s1 = s;
this.a1 = a;
return(a);
}
/// <summary>
/// OOP advatages adopted during translation...
/// </summary>
/// <param name="experience">See Experience</param>
/// <returns></returns>
private double LearnFromExperience(Experience experience /*Matrix s0, int a0, double r0, Matrix s1, int a1*/)
{
// want: Q(s,a) = r + gamma * max_a' Q(s',a')
// compute the target Q value
var tmat = ForwardQ(Network, s1, false);
var qmax = r0 + Options.Gamma * tmat.W[Tembo.Maxi(tmat.W)];
// now predict
var pred = ForwardQ(Network, s0, true);
var tderror = pred.W[a0] - qmax;
var clamp = Options.ErrorClamp;
if (Math.Abs(tderror) > clamp)
{ // huber loss to robustify
if (tderror > clamp)
{
tderror = clamp;
}
if (tderror < -clamp)
{
tderror = -clamp;
}
}
pred.DW[a0] = tderror;
LastGraph.Backward(); // compute gradients on net params
// update net
Tembo.UpdateNetwork(Network, Options.Alpha);
return(tderror);
}