public void visualizeFunctions() {
PuddleMapFV fvgen = new PuddleMapFV(this.puddleMap, 5, 20, 20);
LinearStateDifferentiableRF rf = new LinearStateDifferentiableRF(fvgen, fvgen.getDim());
LinearStateDifferentiableRF objectiveRF =
new LinearStateDifferentiableRF(fvgen, fvgen.getDim());
objectiveRF.setParameters(new double[] {1., -10, -10, 0, -10, 0, 0, 0, 0, 0});
java.util.List<EpisodeAnalysis> eas =
EpisodeAnalysis.parseFilesIntoEAList(this.expertDir, domain, this.sp);
int depth = 6;
double beta = 10;
DifferentiableSparseSampling dss =
new DifferentiableSparseSampling(
domain,
rf,
new NullTermination(),
0.99,
new NameDependentStateHashFactory(),
depth,
-1,
beta);
// DifferentiableZeroStepPlanner dss = new DifferentiableZeroStepPlanner(domain, rf);
dss.toggleDebugPrinting(false);
MLIRLRequest request = new MLIRLRequest(domain, dss, eas, rf);
request.setBoltzmannBeta(beta);
// MLIRL irl = new MLIRL(request, 0.001, 0.01, 10); //use this for only the given features
MLIRL irl = new MLIRL(request, 0.00001, 0.01, 10);
// MLIRL irl = new MLIRL(request, 0.0001, 0.01, 10);
irl.performIRL();
TerminalFunction tf = new GridWorldTerminalFunction(20, 20);
ValueIteration vi =
new ValueIteration(
this.domain,
objectiveRF,
new NullTermination(),
0.99,
new DiscreteStateHashFactory(),
0.01,
200);
// vi.planFromState(this.initialState);
SparseSampling ssLearned =
new SparseSampling(
this.domain,
request.getRf(),
new NullTermination(),
0.99,
new DiscreteStateHashFactory(),
depth,
-1);
SparseSampling ssObjective =
new SparseSampling(
this.domain,
objectiveRF,
new NullTermination(),
0.99,
new DiscreteStateHashFactory(),
depth,
-1);
StateRewardFunctionValue objectiveRFVis =
new StateRewardFunctionValue(this.domain, objectiveRF);
StateRewardFunctionValue learnedRFVis = new StateRewardFunctionValue(this.domain, rf);
List<State> allStates =
StateReachability.getReachableStates(
this.initialState, (SADomain) this.domain, new DiscreteStateHashFactory());
ValueFunctionVisualizerGUI gui =
GridWorldDomain.getGridWorldValueFunctionVisualization(allStates, ssObjective, null);
StateValuePainter2D vpainter = (StateValuePainter2D) gui.getSvp();
vpainter.toggleValueStringRendering(false);
LandmarkColorBlendInterpolation colorBlend = new LandmarkColorBlendInterpolation();
colorBlend.addNextLandMark(0., Color.BLACK);
colorBlend.addNextLandMark(1., Color.WHITE);
vpainter.setColorBlend(colorBlend);
gui.initGUI();
}
public static void main(String[] args) {
MountainCar mc = new MountainCar();
Domain domain = mc.generateDomain();
TerminalFunction tf = new MountainCar.ClassicMCTF();
RewardFunction rf = new GoalBasedRF(tf, 100., -1.);
State valleyState = mc.getCleanState(domain);
StateGridder sg = new StateGridder();
int samplesPerDimension = 50;
sg.gridEntireDomainSpace(domain, samplesPerDimension);
List<State> samples = sg.gridInputState(valleyState);
// make sure we have goal
int terminalStates = 0;
for (State s : samples) {
if (tf.isTerminal(s)) {
terminalStates++;
}
}
if (terminalStates == 0) {
throw new RuntimeException("Did not find termainal state in gridding");
} else {
System.out.println("found " + terminalStates + " terminal states");
}
FittedVI fvi =
new FittedVI(
domain,
rf,
tf,
0.99,
WekaVFATrainer.getKNNTrainer(
new ConcatenatedObjectFeatureVectorGenerator(false, MountainCar.CLASSAGENT), 4),
samples,
-1,
0.01,
150);
/*FittedVI fvi = new FittedVI(domain, rf, tf, 0.99,
WekaVFATrainer.getKNNTrainer(new ConcatenatedObjectFeatureVectorGenerator(false, MountainCar.CLASSAGENT), 4),
samples, -1, 0.01, 150);*/
// fvi.setPlanningDepth(4);
fvi.setPlanningAndControlDepth(1);
fvi.runVI();
System.out.println("Starting policy eval");
// fvi.setControlDepth(4);
Policy p = new GreedyDeterministicQPolicy(fvi);
// MountainCar.setAgent(valleyState, -1.1, 0.);
EpisodeAnalysis ea = p.evaluateBehavior(valleyState, rf, tf, 500);
List<EpisodeAnalysis> eas = new ArrayList<EpisodeAnalysis>();
eas.add(ea);
System.out.println("Episode size: " + ea.maxTimeStep());
EpisodeSequenceVisualizer evis =
new EpisodeSequenceVisualizer(MountainCarVisualizer.getVisualizer(mc), domain, eas);
evis.initGUI();
System.out.println("Starting value funciton vis");
// fvi.setControlDepth(1);
ValueFunctionVisualizerGUI gui =
ValueFunctionVisualizerGUI.createGridWorldBasedValueFunctionVisualizerGUI(
samples,
fvi,
null,
MountainCar.CLASSAGENT,
MountainCar.ATTX,
MountainCar.ATTV,
MountainCar.ACTIONFORWARD,
MountainCar.ACTIONBACKWARDS,
MountainCar.ACTIONCOAST,
MountainCar.ACTIONBACKWARDS);
StateValuePainter2D sv2 = (StateValuePainter2D) gui.getSvp();
sv2.toggleValueStringRendering(false);
LandmarkColorBlendInterpolation colorBlend = new LandmarkColorBlendInterpolation();
colorBlend.addNextLandMark(0., Color.BLACK);
colorBlend.addNextLandMark(1., Color.WHITE);
sv2.setColorBlend(colorBlend);
sv2.setNumXCells(samplesPerDimension - 1);
sv2.setNumYCells(samplesPerDimension - 1);
gui.initGUI();
}