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Created July 6, 2018 14:16
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InvPend
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{
"cells": [
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T06:44:29.845494Z",
"end_time": "2018-07-06T06:44:29.884408Z"
},
"trusted": true
},
"cell_type": "code",
"source": "%matplotlib inline\nimport IPython.display as display\nimport numpy as np\nimport matplotlib.pyplot as plt\nimport matplotlib.animation as anim",
"execution_count": 1174,
"outputs": []
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T12:49:16.897644Z",
"end_time": "2018-07-06T12:49:16.902630Z"
},
"trusted": true
},
"cell_type": "code",
"source": "lim = 3.141592/4\nenv_low = np.array([-5.1, -lim,-5, -5])\nenv_high = -env_low",
"execution_count": 1335,
"outputs": []
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:24:34.464157Z",
"end_time": "2018-07-06T13:24:34.477120Z"
},
"trusted": true
},
"cell_type": "code",
"source": "class InvPendulum(object):\n M = 0.455\n m = 0.21\n l = 0.61\n g = 9.8\n t = 0.05\n t_num = 100\n \n def __init__(self,noisy=None,noisy_param='u',**kwargs):\n self.x = 0.\n self.x_dot = 0.\n self.theta = 0.\n self.theta_dot = 0.\n self.u = 0.\n self.np = noisy_param\n self.noisy = noisy\n self.t_one = self.t / self.t_num\n def reset(self,x,theta):\n self.x = x\n self.x_dot = 0.\n self.theta = theta\n self.theta_dot = 0.\n self.u = 0.\n return np.array([self.x, self.theta,self.x_dot, self.theta_dot])\n \n def do_action(self, a):\n if a == 0:\n self.u = -5\n elif a == 1:\n self.u = 5\n else:\n self.u = 0\n if self.noisy is not None:\n self.u += self.noisy()\n self.update_state()\n vv = np.array([self.x, self.theta,self.x_dot, self.theta_dot])\n env_dx = (env_high - env_low) / 40\n done = False\n if np.any(vv > env_high) or np.any(vv < env_low):\n done = True\n return vv, self.calc_reward(), done\n \n def update_state(self):\n for i in range(self.t_num):\n costheta = np.cos(self.theta)\n sintheta = np.sin(self.theta)\n ml = self.m * self.l\n total_mass = self.M + self.m\n\n temp = (self.u + ml * self.theta_dot**2 * sintheta) / total_mass\n thetaacc = ((self.g * sintheta - costheta * temp) /\n (self.l * (4/3 - self.m * costheta**2 / total_mass)))\n xacc = temp - ml * thetaacc * costheta / total_mass\n\n self.x += self.t_one * self.x_dot\n self.x_dot += self.t_one * xacc\n self.theta += self.t_one * self.theta_dot\n self.theta_dot += self.t_one * thetaacc\n \n def calc_reward(self):\n r = np.cos(self.theta)\n th = 0.8\n return 5*(r-th) + np.abs(5**4-self.x**4)/5**4 if r > th else 0",
"execution_count": 1399,
"outputs": []
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:24:37.815198Z",
"end_time": "2018-07-06T13:24:37.822205Z"
},
"trusted": true
},
"cell_type": "code",
"source": "from IPython.display import HTML\ndef video(x_history, angle_history,r,t, l=0.5):\n fig = plt.figure()\n ax = fig.add_subplot(111, aspect='equal',\n autoscale_on=False, xlim=(-5, 5), ylim=(-5, 5))\n ax.grid()\n line, = ax.plot([], [], 'o-', lw=2)\n time_text = ax.text(0.02, 0.95, 'aaaaaa', transform=ax.transAxes)\n v_text = ax.text(0.02, 0.90, 'aaaaaa', transform=ax.transAxes)\n def init():\n line.set_data([], [])\n time_text.set_text('')\n v_text.set_text('')\n return line, time_text\n \n def update(i):\n line.set_data([x_history[i], x_history[i]+2*l*np.sin(angle_history[i])],\n [0, 2*l*np.cos(angle_history[i])])\n time_text.set_text('time = {0:.1f}'.format(i*t))\n v_text.set_text('income = {0:.1f}'.format(sum(r[:i])))\n return line, time_text\n ani = anim.FuncAnimation(fig, update, frames=range(len(x_history)),\n interval=1000*t,init_func=init)\n return ani.to_html5_video()",
"execution_count": 1400,
"outputs": []
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:24:40.956798Z",
"end_time": "2018-07-06T13:24:41.090491Z"
},
"trusted": true
},
"cell_type": "code",
"source": "plant=InvPendulum()\nangle_history = []\nx_history = []\nr = []\nfor i in range(200):\n next_s, reward,done = plant.do_action(2)\n r.append(reward)\n angle_history.append(next_s[1])\n x_history.append(next_s[0])\n",
"execution_count": 1401,
"outputs": []
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T12:54:12.973702Z",
"end_time": "2018-07-06T12:54:19.620927Z"
},
"trusted": true
},
"cell_type": "code",
"source": "HTML(video(x_history, angle_history,r, plant.t, plant.l*3))",
"execution_count": 1351,
"outputs": [
{
"output_type": "execute_result",
"execution_count": 1351,
"data": {
"text/plain": "<IPython.core.display.HTML object>",
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WUkJqTWFSI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"metadata": {}
},
{
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"data": {
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KCumVN52yQmLylpaWbnX3YS062N3jugHTgP8Furb0PsXFxZ4I5eXlCRk3EdIpq3t65U2nrO6JyQts8RY+HjvG0zZmNh6YD3zd3T+LZywRSY545wSWAd2AN81su5n9JoJMItKG4roScPf8qIKISHJoxaBI4FQCIoFTCYgETiUgEjiVgEjgVAIigVMJiAROJSASOJWASOBUAiKBUwmIBE4lIBI4lYBI4FQCIoFTCYgETiUgEjiVgEjgVAIigVMJiAROJSASOJWASOBUAiKBUwmIBE4lIBI4lYBI4FQCIoFTCYgETiUgEjiVgEjgVAIigVMJiAROJSASOJWASOBUAiKBi6QEzOxRM3Mzy45iPBFpO3GXgJnlAWOBg/HHEZG2FsWVwFPAPMAjGEtE2lhcJWBmk4AKd98RUR4RaWPm3vwTuJn9Bbi+kW8tBB4H7nL3E2Z2ABjm7v9qYpwZwAyAnJyc4tWrV8eTu1FVVVVkZmZGPm4ipFNWSK+86ZQVEpO3tLR0q7sPa9HB7v65bkAhcAQ4UHeLUTsvcP3V7ltcXOyJUF5enpBxEyGdsrqnV950yuqemLzAFm/hY7nj520ad98F9Ly4fbUrARFJTVonIBK4z30lcCV37xPVWCLSdnQlIBI4lYBI4FQCIoFTCYgETiUgEjiVgEjgVAIigVMJiAROJSASOJWASOBUAiKBUwmIBE4lIBI4lYBI4FQCIoFTCYgETiUgErirftpwQk5qdhT4OAFDZwPp8hmH6ZQV0itvOmWFxOS90d2/3JIDk1ICiWJmW7ylH7OcZOmUFdIrbzplheTn1csBkcCpBEQC195K4LfJDtAK6ZQV0itvOmWFJOdtV3MCItJ67e1KQERaqV2WgJk9amZuZtnJztIcM1tsZu+b2U4z+6OZ9Uh2piuZ2Xgz22tm+83ssWTnaY6Z5ZlZuZm9Z2a7zeyRZGe6GjPLMLNtZvanZGVodyVgZnnAWGr/OGqqexMY5O6DgX3AgiTnuYyZZQC/BL4J3ALcZ2a3JDdVs2LAT919ADASmJXieQEeAd5LZoB2VwLAU8A8IOUnO9z9DXeP1W1uBHKTmacRI4D97v4Pdz8HrAbuSXKmJrn7J+7+Tt3Xp6h9cPVObqqmmVku8C3gmWTmaFclYGaTgAp335HsLJ/DD4DXkx3iCr2BQ5dsHyaFH1SXMrM+wFDg78lN0qxfUPuEdSGZISL7g6Rtxcz+AlzfyLcWAo8Dd7VtouY1l9fd19Yds5DaS9mVbZmtBayRfSl/hWVmmcCrwGx3P5nsPI0xs7uBI+6+1cxGJzNL2pWAu9/Z2H4zKwT6AjvMDGovrd8xsxHu/s82jHiZpvJeZGbTgLuBb3jqvV97GMi7ZDsXqExSlhYxs07UFsBKd38t2XmaMQqYZGYTgGuALDP7g7t/t62DtNt1AmZ2ABjm7in7iyRmNh5YCnzd3Y8mO8+VzKwjtROW3wAqgM3Af7r77qQGa4LVtv8K4FN3n53sPC1VdyXwqLvfnYzzt6s5gTS0DOgGvGlm283sN8kOdKm6ScufAOupnWR7KVULoM4o4HvAmLqf5/a6Z1ppRru9EhCRltGVgEjgVAIigVMJiAROJSASOJWASOBUAiKBUwmIBE4lIBK4/wO9cVyfugqa4gAAAABJRU5ErkJggg==\n",
"text/plain": "<Figure size 432x288 with 1 Axes>"
},
"metadata": {}
}
]
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:24:44.209102Z",
"end_time": "2018-07-06T13:24:44.253986Z"
},
"trusted": true
},
"cell_type": "code",
"source": "div = 41\nq_table = np.random.randn(div, div,3)*0.001\nrewards = []\nahh = []\nxhh = []\ntrs = []",
"execution_count": 1402,
"outputs": []
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:24:44.304850Z",
"end_time": "2018-07-06T13:24:44.311850Z"
},
"trusted": true
},
"cell_type": "code",
"source": "def get_status(vec):\n env_dx = (env_high - env_low) / div\n pos = int((vec[0] - env_low[0])/ env_dx[0])\n vel = int((vec[2] - env_low[2])/ env_dx[2])\n th = int((vec[1] - env_low[1])/ env_dx[1])\n th_dot = int((vec[3] - env_low[3])/ env_dx[3])\n done = False\n mx = np.ones((4))*div\n mn = np.zeros((4))\n v = np.array([pos, th,vel, th_dot])\n if np.any(v >= mx) or np.any(v <= mn):\n done = True\n return v, done",
"execution_count": 1403,
"outputs": []
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:24:44.373663Z",
"end_time": "2018-07-06T13:24:44.380645Z"
},
"trusted": true
},
"cell_type": "code",
"source": "ALPHA = 0.2\nGAMMA = 0.99\nSPACE1 = 1\nSPACE2 = 3\ndef update_q_table(_q_table, _action, _observation, _next_observation, _reward, _episode):\n alpha = ALPHA\n gamma = GAMMA\n v,done = get_status(_next_observation)\n if done:\n return _q_table,None\n next_max_q_value = max(_q_table[v[SPACE1]][v[SPACE2]])\n \n v,_ = get_status(_observation)\n q_value = _q_table[v[SPACE1]][v[SPACE2]][_action]\n \n _q_table[v[SPACE1]][v[SPACE2]][_action] =q_value+ alpha * (_reward + gamma * next_max_q_value - q_value)\n return _q_table,8",
"execution_count": 1404,
"outputs": []
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:24:44.435498Z",
"end_time": "2018-07-06T13:24:44.441486Z"
},
"trusted": true
},
"cell_type": "code",
"source": "EPSILON = 0.05\ndef get_action(_q_table, _observation):\n epsilon = EPSILON\n if np.random.uniform(0, 1) > epsilon:\n v,done = get_status(observation)\n if done:\n return -1\n _action = np.argmax(_q_table[v[SPACE1]][v[SPACE2]])\n else:\n _action = np.random.choice([0, 1, 2])\n return _action",
"execution_count": 1405,
"outputs": []
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:24:44.497351Z",
"end_time": "2018-07-06T13:24:44.503316Z"
},
"trusted": true
},
"cell_type": "code",
"source": "def noise():\n off = 0.0\n if np.random.random() > 0.99:\n return np.random.normal(scale=5) + off\n else:\n return off",
"execution_count": 1406,
"outputs": []
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:24:44.562159Z",
"end_time": "2018-07-06T13:38:44.821004Z"
},
"trusted": true,
"scrolled": false
},
"cell_type": "code",
"source": "inv = InvPendulum(noise)\nfor episode in range(10001):\n total_reward = 0\n observation = inv.reset(0, np.random.uniform(-0.1,0.1))\n l = 400\n f=0\n angle_history = []\n x_history = []\n r = []\n\n for tt in range(l):\n action = get_action(q_table, observation)\n if action != -1 or f is not None:\n next_observation, reward, done = inv.do_action(action)\n \n angle_history.append(next_observation[1])\n x_history.append(next_observation[0])\n q_table,f = update_q_table(q_table,\n action,\n observation,\n next_observation,\n reward,\n episode)\n total_reward += reward\n r.append(reward)\n observation = next_observation\n if tt==(l-1):\n print(\"100 %:\",episode,sum(r))\n if done or tt==l-1:\n if episode%100 == 0:\n plt.xlabel('verocity')\n plt.ylabel('angle')\n display.clear_output(True)\n trr = np.array(trs[episode-100:episode])\n if episode > 0:\n print('episode: {}, ave.: {:.2f},std.: {:.2f}, min. {:.2f}, max: {:.2f}'.format(episode,\n np.average(trr),\n np.std(trr),\n np.min(trr),\n np.max(trr)))\n plt.imshow(np.clip(q_table,0,1.0))\n plt.show()\n break\n ahh.append(angle_history)\n xhh.append(x_history)\n rewards.append(r)\n trs.append(total_reward)",
"execution_count": 1407,
"outputs": [
{
"output_type": "stream",
"text": "episode: 10000, ave.: 245.52,std.: 145.77, min. 15.63, max: 796.84\n",
"name": "stdout"
},
{
"output_type": "display_data",
"data": {
"image/png": 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\n",
"text/plain": "<Figure size 432x288 with 1 Axes>"
},
"metadata": {}
}
]
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:40:50.491670Z",
"end_time": "2018-07-06T13:40:50.850732Z"
},
"trusted": true
},
"cell_type": "code",
"source": "s = [] \nfor rw in rewards:\n s.append(sum(rw))\nmx = (np.argmax(s),np.max(s))\nss = []\naa = 100\nplt.plot(range(len(s)),s)\nfor j in range(0,len(s)-1,aa):\n av = sum(s[j:j+aa])/aa\n ss.append(av)\nplt.plot(range(0,len(s)-1,aa),ss,c='r',ls='--')\nplt.xlabel('episode')\nplt.ylabel('reward')\nplt.scatter(mx[0], mx[1],c='r')\nplt.show()\nprint(mx)",
"execution_count": 1408,
"outputs": [
{
"output_type": "display_data",
"data": {
"image/png": 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\n",
"text/plain": "<Figure size 432x288 with 1 Axes>"
},
"metadata": {}
},
{
"output_type": "stream",
"text": "(6771, 799.3318016157084)\n",
"name": "stdout"
}
]
},
{
"metadata": {
"ExecuteTime": {
"start_time": "2018-07-06T13:41:09.862925Z",
"end_time": "2018-07-06T13:41:22.622941Z"
},
"trusted": true,
"scrolled": false
},
"cell_type": "code",
"source": "e = 6771\na = xhh[e]\nb = ahh[e]\nc = rewards[e]\nHTML(video(a,b,c, inv.t, inv.l*3))",
"execution_count": 1409,
"outputs": [
{
"output_type": "execute_result",
"execution_count": 1409,
"data": {
"text/plain": "<IPython.core.display.HTML object>",
"text/html": "<video width=\"432\" height=\"288\" controls autoplay loop>\n <source type=\"video/mp4\" 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/+qZYAw9wv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l2eSXB5hHyJzK79YVoEurWpQf6O9+Bm/ONYF0tW67Q2f8z0tAQokylb0KWxkRg/z4g8sW37R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"data": {
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\n",
"text/plain": "<Figure size 432x288 with 1 Axes>"
},
"metadata": {}
}
]
},
{
"metadata": {
"trusted": true
},
"cell_type": "code",
"source": "",
"execution_count": null,
"outputs": []
}
],
"metadata": {
"varInspector": {
"window_display": false,
"cols": {
"lenName": 16,
"lenType": 16,
"lenVar": 40
},
"kernels_config": {
"python": {
"library": "var_list.py",
"delete_cmd_prefix": "del ",
"delete_cmd_postfix": "",
"varRefreshCmd": "print(var_dic_list())"
},
"r": {
"library": "var_list.r",
"delete_cmd_prefix": "rm(",
"delete_cmd_postfix": ") ",
"varRefreshCmd": "cat(var_dic_list()) "
}
},
"types_to_exclude": [
"module",
"function",
"builtin_function_or_method",
"instance",
"_Feature"
]
},
"language_info": {
"pygments_lexer": "ipython3",
"nbconvert_exporter": "python",
"name": "python",
"mimetype": "text/x-python",
"file_extension": ".py",
"codemirror_mode": {
"version": 3,
"name": "ipython"
},
"version": "3.5.5"
},
"kernelspec": {
"name": "conda-env-tensorflow-py",
"display_name": "Python [conda env:tensorflow]",
"language": "python"
},
"gist": {
"id": "",
"data": {
"description": "InvPend",
"public": true
}
}
},
"nbformat": 4,
"nbformat_minor": 2
}
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