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July 1, 2017 03:53
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CartPole - Hill Climb v4 - Correct hill climb and reduced noise & variance (MC-10)
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import gym | |
import numpy as np | |
from gym.wrappers.monitoring import Monitor | |
MC_POLICY_EVAL_EP = 10 | |
BASE_NOISE_FACTOR = 0.1 | |
NUM_POLICY_EVAL = 500 | |
env = gym.make('CartPole-v0') | |
env = Monitor(env, 'tmp/cart-pole-hill-climb-4', force=True) | |
print("Action space: {0}".format(env.action_space)) | |
print("Observation space: {0}\n\tLow: {1}\n\tHigh: {2}".format( | |
env.observation_space, | |
env.observation_space.low, | |
env.observation_space.high, | |
)) | |
def action_selection(weights, observation): | |
if np.matmul(weights, observation) < 0: | |
return 0 | |
else: | |
return 1 | |
def run_episode(weights): | |
observation = env.reset() | |
total_reward = 0 | |
for t in range(200): | |
env.render() | |
action = action_selection(weights, observation) | |
observation, reward, done, info = env.step(action) | |
total_reward += reward | |
if done: | |
print("Episode finished after {0} timesteps with reward {1}".format( | |
t + 1, | |
total_reward, | |
)) | |
break | |
return total_reward | |
def evaluate_policy(num_episodes, weights): | |
mean_reward = 0 | |
for k in range(1, num_episodes + 1): | |
reward = run_episode(weights) | |
error = reward - mean_reward | |
mean_reward += error / k | |
print("Mean reward estimated as {0} for past {1} episodes".format( | |
mean_reward, | |
num_episodes | |
)) | |
return mean_reward | |
last_reward = -np.inf | |
best_params = np.random.rand(4) * 2 - 1 | |
print("Running Hill Climb on Cart Pole") | |
print("Params:\n\tMC Eval Count: {0} trajectories\n\tBase Noise Factor: {1}".format( | |
MC_POLICY_EVAL_EP, | |
BASE_NOISE_FACTOR, | |
)) | |
for i_episode in range(NUM_POLICY_EVAL): | |
# Weights are 1x4 matrix | |
# µ = 0 , sigma 1 | |
annealing_term = 1 - (i_episode / NUM_POLICY_EVAL) | |
noise_scaling = BASE_NOISE_FACTOR * annealing_term | |
print("Applying jitter with factor {0} to parameters {1}".format( | |
noise_scaling, | |
best_params, | |
)) | |
# Add gaussian noise | |
# µ = 0 , sigma = noise_scaling | |
noise_term = np.random.randn(4) * noise_scaling | |
parameters = best_params + noise_term | |
episodic_reward = evaluate_policy(MC_POLICY_EVAL_EP, parameters) | |
if episodic_reward > last_reward: | |
print("Reward {0} is improvement from previous evaluation {1} - Eval {2}".format( | |
episodic_reward, | |
last_reward, | |
i_episode, | |
)) | |
print("Updating parameters\n\tfrom {0}\n\tto{1}".format( | |
best_params, | |
parameters | |
)) | |
best_params = parameters | |
last_reward = episodic_reward | |
env.close() |
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