Created
January 31, 2019 15:54
Star
You must be signed in to star a gist
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
# import gym | |
import numpy as np | |
import plotly.plotly as py | |
import plotly.graph_objs as go | |
from plotly.offline import download_plotlyjs, init_notebook_mode, plot, iplot | |
import gym | |
import random | |
init_notebook_mode(connected=True) | |
env = gym.make('CartPole-v1') | |
data = [] | |
theta = np.random.uniform(low=0, high=10, size=(4)) | |
alpha = 0.001 | |
gamma = 0.98 | |
decay = 0.001 | |
theta_log = [] | |
def q(state): | |
return theta @ state | |
def encode_action(action): | |
return 1 if action == 1 else -1 | |
def update_qtable(i, state, action, reward, next_state, next_action): | |
lr = alpha * (1. / (1. + decay * i)) | |
q_next = q(next_state) | |
delta_q = lr * (reward + gamma * q_next * encode_action(next_action) - q(state) * encode_action(action)) | |
for i in range(4): | |
theta[i] += delta_q * state[i] | |
def make(state): | |
return 1 if q(state) >= 0 else 0 | |
theta_log.append([0, theta.copy()]) | |
turns = [] | |
for i in range(20000): | |
obs = env.reset() | |
turn = 0 | |
action = make(obs) | |
while True: | |
next_obs, reward, done, _ = env.step(action) | |
turn += 1 | |
if turn < 500 and done: | |
reward = -500 | |
else: | |
reward += turn / 10 | |
next_action = make(next_obs) | |
update_qtable(i, obs, action, reward, next_obs, next_action) | |
obs = next_obs | |
action = next_action | |
if done: | |
theta_log.append([i+1, theta.copy()]) | |
turns.append(turn) | |
break | |
plt = [] | |
for i in range(4): | |
plt.append(go.Scatter(x=[x[0] for x in theta_log], y=[x[1][i] for x in theta_log])) | |
iplot(plt) | |
print(theta, turn, sum(turns[-50:-1]) / 50) |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment