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Diffstat (limited to 'rl/tutorials')
| -rw-r--r-- | rl/tutorials/07_cart_pole_digitize_space.ipynb | 6117 |
1 files changed, 6117 insertions, 0 deletions
diff --git a/rl/tutorials/07_cart_pole_digitize_space.ipynb b/rl/tutorials/07_cart_pole_digitize_space.ipynb new file mode 100644 index 0000000..cb5f703 --- /dev/null +++ b/rl/tutorials/07_cart_pole_digitize_space.ipynb @@ -0,0 +1,6117 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:51:06.799512Z", + "start_time": "2023-03-05T14:51:05.341809Z" + } + }, + "outputs": [], + "source": [ + "import numpy as np\n", + "import gym\n", + "import matplotlib.pyplot as plt\n", + "from matplotlib import animation" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:51:07.700234Z", + "start_time": "2023-03-05T14:51:07.690354Z" + } + }, + "outputs": [ + { + "data": { + "text/plain": [ + "'0.15.4'" + ] + }, + "execution_count": 2, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "gym.version.VERSION" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:51:34.744085Z", + "start_time": "2023-03-05T14:51:31.888070Z" + } + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Looking in indexes: http://mirrors.aliyun.com/pypi/simple/\r\n", + "Requirement already satisfied: JSAnimation in /Users/chunhuizhang/anaconda3/envs/py3/lib/python3.7/site-packages (0.1)\r\n" + ] + } + ], + "source": [ + "!pip install JSAnimation" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:51:38.591872Z", + "start_time": "2023-03-05T14:51:38.580628Z" + } + }, + "outputs": [], + "source": [ + "from JSAnimation.IPython_display import display_animation\n", + "from IPython.display import display, HTML" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## 重新认识 cartpole 环境" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "- 小滑块/倒立摆\n", + "- 典型的 mdp（markov decision process）\n", + " - 下一时刻的状态（转移）$s_{t+1}$ 只跟当前状态 $s_t$ 和（当前状态下采取的）$a_t$ 有关\n", + "- action space is discrete and finite\n", + "- state（observation）space is continuous" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:53:41.857560Z", + "start_time": "2023-03-05T14:53:41.825470Z" + } + }, + "outputs": [], + "source": [ + "env = gym.make('CartPole-v0')" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### state/space" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:54:05.707101Z", + "start_time": "2023-03-05T14:54:05.702533Z" + } + }, + "outputs": [ + { + "data": { + "text/plain": [ + "array([-0.03813489, -0.01010649, -0.02614457, -0.03172028])" + ] + }, + "execution_count": 7, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "# init space\n", + "env.reset()" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:54:13.406970Z", + "start_time": "2023-03-05T14:54:13.403812Z" + } + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Discrete(2)\n" + ] + } + ], + "source": [ + "# action space\n", + "print(env.action_space)" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:54:28.389268Z", + "start_time": "2023-03-05T14:54:28.385064Z" + } + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "2\n" + ] + } + ], + "source": [ + "print(env.action_space.n)" + ] + }, + { + "cell_type": "code", + "execution_count": 13, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:55:34.934436Z", + "start_time": "2023-03-05T14:55:34.930442Z" + } + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Box(4,)\n", + "[-4.8000002e+00 -3.4028235e+38 -4.1887903e-01 -3.4028235e+38]\n", + "[4.8000002e+00 3.4028235e+38 4.1887903e-01 3.4028235e+38]\n" + ] + } + ], + "source": [ + "# observation space\n", + "# https://www.gymlibrary.dev/environments/classic_control/cart_pole/\n", + "print(env.observation_space)\n", + "print(env.observation_space.low)\n", + "print(env.observation_space.high)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### one episode" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:57:32.225046Z", + "start_time": "2023-03-05T14:57:31.832564Z" + } + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "step: 1, state: [-0.02012693 0.20925067 0.03958993 -0.29435305]\n", + "step: 2, state: [-0.01594191 0.40378649 0.03370287 -0.57429172]\n", + "step: 3, state: [-0.00786618 0.20820864 0.02221704 -0.27118479]\n", + "step: 4, state: [-0.00370201 0.01277682 0.01679334 0.02842187]\n", + "step: 5, state: [-0.00344647 -0.18258188 0.01736178 0.32635562]\n", + "step: 6, state: [-0.00709811 0.01228863 0.02388889 0.03919801]\n", + "step: 7, state: [-0.00685234 -0.18316759 0.02467285 0.33932136]\n", + "step: 8, state: [-0.01051569 -0.37863177 0.03145928 0.63968147]\n", + "step: 9, state: [-0.01808833 -0.18396223 0.04425291 0.35706915]\n", + "step: 10, state: [-0.02176757 -0.37968447 0.05139429 0.66337121]\n", + "step: 11, state: [-0.02936126 -0.18531377 0.06466172 0.38730339]\n", + "step: 12, state: [-0.03306753 0.00883356 0.07240779 0.1156883 ]\n", + "step: 13, state: [-0.03289086 -0.18724716 0.07472155 0.43030799]\n", + "step: 14, state: [-0.03663581 0.00674154 0.08332771 0.16208459]\n", + "step: 15, state: [-0.03650098 -0.18946834 0.0865694 0.47984822]\n", + "step: 16, state: [-0.04029034 -0.38569887 0.09616637 0.79851137]\n", + "step: 17, state: [-0.04800432 -0.19201853 0.11213659 0.53756254]\n", + "step: 18, state: [-0.05184469 0.00136303 0.12288785 0.28221117]\n", + "step: 19, state: [-0.05181743 0.19453743 0.12853207 0.0306729 ]\n", + "step: 20, state: [-0.04792668 0.38760429 0.12914553 -0.21885405]\n", + "step: 21, state: [-0.0401746 0.19089548 0.12476845 0.1116153 ]\n", + "step: 22, state: [-0.03635669 -0.00577295 0.12700075 0.44091157]\n", + "step: 23, state: [-0.03647215 -0.20244188 0.13581898 0.770777 ]\n", + "step: 24, state: [-0.04052098 -0.00942435 0.15123452 0.52372515]\n", + "step: 25, state: [-0.04070947 -0.20631499 0.16170903 0.85998375]\n", + "step: 26, state: [-0.04483577 -0.0137211 0.1789087 0.62219743]\n", + "step: 27, state: [-0.04511019 0.17851121 0.19135265 0.39077045]\n", + "step: 28, state: [-0.04153997 -0.01873813 0.19916806 0.73715912]\n", + "step: 29, state: [-0.04191473 0.17315764 0.21391124 0.51317475]\n" + ] + } + ], + "source": [ + "env = gym.make('CartPole-v0')\n", + "# observation = env.reset()\n", + "state = env.reset()\n", + "steps = 0\n", + "frames = []\n", + "while True:\n", + " frames.append(env.render(mode='rgb_array'))\n", + " action = env.action_space.sample()\n", + " state, reward, done, info = env.step(action)\n", + " steps += 1\n", + " print(f'step: {steps}, state: {state}')\n", + " if done:\n", + " break" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:58:23.485976Z", + "start_time": "2023-03-05T14:58:23.446404Z" + } + }, + "outputs": [ + { + "data": { + "text/plain": [ + "[array([[[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + 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[255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]]], dtype=uint8),\n", + " array([[[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " ...,\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 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...,\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]]], dtype=uint8),\n", + " array([[[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 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[255, 255, 255]]], dtype=uint8),\n", + " array([[[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " ...,\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 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\n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]]], dtype=uint8),\n", + " array([[[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " ...,\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]]], dtype=uint8),\n", + " array([[[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " ...,\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]]], dtype=uint8),\n", + " array([[[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " ...,\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]]], dtype=uint8),\n", + " array([[[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " ...,\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]]], dtype=uint8),\n", + " array([[[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " ...,\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]]], dtype=uint8),\n", + " array([[[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " ...,\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]],\n", + " \n", + " [[255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " ...,\n", + " [255, 255, 255],\n", + " [255, 255, 255],\n", + " [255, 255, 255]]], dtype=uint8)]" + ] + }, + "execution_count": 17, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "frames" + ] + }, + { + "cell_type": "code", + "execution_count": 18, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:58:41.531828Z", + "start_time": "2023-03-05T14:58:41.527026Z" + } + }, + "outputs": [], + "source": [ + "def display_frames_as_gif(frames, output):\n", + " \"\"\"\n", + " Displays a list of frames as a gif, with controls\n", + " 以gif格式显示关键帧列，带有控件\n", + " \"\"\"\n", + " \n", + " fig = plt.figure(figsize=(frames[0].shape[1]/72.0, frames[0].shape[0]/72.0),dpi=72)\n", + " patch = plt.imshow(frames[0])\n", + " plt.axis('off')\n", + " \n", + " def animate(i):\n", + " img = patch.set_data(frames[i])\n", + " return img ## *** return是必须要有的 ***\n", + " \n", + " anim = animation.FuncAnimation(plt.gcf(), animate, frames=len(frames), interval=50)\n", + " \n", + " anim.save(output)\n", + " return HTML(anim.to_jshtml()) ## *** 返回一个HTML对象，以便被调用者显示。 ***\n", + " # display(display_animation(anim, default_mode='loop'))" + ] + }, + { + "cell_type": "code", + "execution_count": 19, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:59:09.169623Z", + "start_time": "2023-03-05T14:58:48.224146Z" + }, + "scrolled": true + }, + "outputs": [ + { + "data": { + "text/html": [ + "\n", + "<link rel=\"stylesheet\"\n", + "href=\"https://maxcdn.bootstrapcdn.com/font-awesome/4.4.0/css/font-awesome.min.css\">\n", + "<script language=\"javascript\">\n", + " function isInternetExplorer() {\n", + " ua = navigator.userAgent;\n", + " /* MSIE used to detect old browsers and Trident used to newer ones*/\n", + " return ua.indexOf(\"MSIE \") > -1 || ua.indexOf(\"Trident/\") > -1;\n", + " }\n", + "\n", + " /* Define the Animation class */\n", + " function Animation(frames, img_id, slider_id, interval, loop_select_id){\n", + " this.img_id = img_id;\n", + " this.slider_id = slider_id;\n", + " this.loop_select_id = loop_select_id;\n", + " this.interval = interval;\n", + " this.current_frame = 0;\n", + " this.direction = 0;\n", + " this.timer = null;\n", + " this.frames = new Array(frames.length);\n", + "\n", + " for (var i=0; i<frames.length; i++)\n", + " {\n", + " this.frames[i] = new Image();\n", + " this.frames[i].src = frames[i];\n", + " }\n", + " var slider = document.getElementById(this.slider_id);\n", + " slider.max = this.frames.length - 1;\n", + " if (isInternetExplorer()) {\n", + " // switch from oninput to onchange because IE <= 11 does not conform\n", + " // with W3C specification. It ignores oninput and onchange behaves\n", + " // like oninput. In contrast, Microsoft Edge behaves correctly.\n", + " slider.setAttribute('onchange', slider.getAttribute('oninput'));\n", + " slider.setAttribute('oninput', null);\n", + " }\n", + " this.set_frame(this.current_frame);\n", + " }\n", + "\n", + " Animation.prototype.get_loop_state = function(){\n", + " var button_group = document[this.loop_select_id].state;\n", + " for (var i = 0; i < button_group.length; i++) {\n", + " var button = button_group[i];\n", + " if (button.checked) {\n", + " return button.value;\n", + " }\n", + " }\n", + " return undefined;\n", + " }\n", + "\n", + " Animation.prototype.set_frame = function(frame){\n", + " this.current_frame = frame;\n", + " document.getElementById(this.img_id).src =\n", + " this.frames[this.current_frame].src;\n", + " document.getElementById(this.slider_id).value = this.current_frame;\n", + " }\n", + "\n", + " Animation.prototype.next_frame = function()\n", + " {\n", + " this.set_frame(Math.min(this.frames.length - 1, this.current_frame + 1));\n", + " }\n", + "\n", + " Animation.prototype.previous_frame = function()\n", + " {\n", + " this.set_frame(Math.max(0, this.current_frame - 1));\n", + " }\n", + "\n", + " Animation.prototype.first_frame = function()\n", + " {\n", + " this.set_frame(0);\n", + " }\n", + "\n", + " Animation.prototype.last_frame = function()\n", + " {\n", + " this.set_frame(this.frames.length - 1);\n", + " }\n", + "\n", + " Animation.prototype.slower = function()\n", + " {\n", + " this.interval /= 0.7;\n", + " if(this.direction > 0){this.play_animation();}\n", + " else if(this.direction < 0){this.reverse_animation();}\n", + " }\n", + "\n", + " Animation.prototype.faster = function()\n", + " {\n", + " this.interval *= 0.7;\n", + " if(this.direction > 0){this.play_animation();}\n", + " else if(this.direction < 0){this.reverse_animation();}\n", + " }\n", + "\n", + " Animation.prototype.anim_step_forward = function()\n", + " {\n", + " this.current_frame += 1;\n", + " if(this.current_frame < this.frames.length){\n", + " this.set_frame(this.current_frame);\n", + " }else{\n", + " var loop_state = this.get_loop_state();\n", + " if(loop_state == \"loop\"){\n", + " this.first_frame();\n", + " }else if(loop_state == \"reflect\"){\n", + " this.last_frame();\n", + " this.reverse_animation();\n", + " }else{\n", + " this.pause_animation();\n", + " this.last_frame();\n", + " }\n", + " }\n", + " }\n", + "\n", + " Animation.prototype.anim_step_reverse = function()\n", + " {\n", + " this.current_frame -= 1;\n", + " if(this.current_frame >= 0){\n", + " this.set_frame(this.current_frame);\n", + " }else{\n", + " var loop_state = this.get_loop_state();\n", + " if(loop_state == \"loop\"){\n", + " this.last_frame();\n", + " }else if(loop_state == \"reflect\"){\n", + " this.first_frame();\n", + " this.play_animation();\n", + " }else{\n", + " this.pause_animation();\n", + " this.first_frame();\n", + " }\n", + " }\n", + " }\n", + "\n", + " Animation.prototype.pause_animation = function()\n", + " {\n", + " this.direction = 0;\n", + " if (this.timer){\n", + " clearInterval(this.timer);\n", + " this.timer = null;\n", + " }\n", + " }\n", + "\n", + " Animation.prototype.play_animation = function()\n", + " {\n", + " this.pause_animation();\n", + " this.direction = 1;\n", + " var t = this;\n", + " if (!this.timer) this.timer = setInterval(function() {\n", + " t.anim_step_forward();\n", + " }, this.interval);\n", + " }\n", + "\n", + " Animation.prototype.reverse_animation = function()\n", + " {\n", + " this.pause_animation();\n", + " this.direction = -1;\n", + " var t = this;\n", + " if (!this.timer) this.timer = setInterval(function() {\n", + " t.anim_step_reverse();\n", + " }, this.interval);\n", + " }\n", + "</script>\n", + "\n", + "<style>\n", + ".animation {\n", + " display: inline-block;\n", + " text-align: center;\n", + "}\n", + "input[type=range].anim-slider {\n", + " width: 374px;\n", + " margin-left: auto;\n", + " margin-right: auto;\n", + "}\n", + ".anim-buttons {\n", + " margin: 8px 0px;\n", + "}\n", + ".anim-buttons button {\n", + " padding: 0;\n", + " width: 36px;\n", + "}\n", + ".anim-state label {\n", + " margin-right: 8px;\n", + "}\n", + ".anim-state input {\n", + " margin: 0;\n", + " vertical-align: middle;\n", + "}\n", + "</style>\n", + "\n", + "<div class=\"animation\">\n", + " <img id=\"_anim_img2df701fd018149c4a11e47e89b9e0a44\">\n", + " <div class=\"anim-controls\">\n", + " <input id=\"_anim_slider2df701fd018149c4a11e47e89b9e0a44\" type=\"range\" class=\"anim-slider\"\n", + " name=\"points\" min=\"0\" max=\"1\" step=\"1\" value=\"0\"\n", + " oninput=\"anim2df701fd018149c4a11e47e89b9e0a44.set_frame(parseInt(this.value));\"></input>\n", + " <div class=\"anim-buttons\">\n", + " <button title=\"Decrease speed\" aria-label=\"Decrease speed\" onclick=\"anim2df701fd018149c4a11e47e89b9e0a44.slower()\">\n", + " <i class=\"fa fa-minus\"></i></button>\n", + " <button title=\"First frame\" aria-label=\"First frame\" onclick=\"anim2df701fd018149c4a11e47e89b9e0a44.first_frame()\">\n", + " <i class=\"fa fa-fast-backward\"></i></button>\n", + " <button title=\"Previous frame\" aria-label=\"Previous frame\" onclick=\"anim2df701fd018149c4a11e47e89b9e0a44.previous_frame()\">\n", + " <i class=\"fa fa-step-backward\"></i></button>\n", + " <button title=\"Play backwards\" aria-label=\"Play backwards\" onclick=\"anim2df701fd018149c4a11e47e89b9e0a44.reverse_animation()\">\n", + " <i class=\"fa fa-play fa-flip-horizontal\"></i></button>\n", + " <button title=\"Pause\" aria-label=\"Pause\" onclick=\"anim2df701fd018149c4a11e47e89b9e0a44.pause_animation()\">\n", + " <i class=\"fa fa-pause\"></i></button>\n", + " <button title=\"Play\" aria-label=\"Play\" onclick=\"anim2df701fd018149c4a11e47e89b9e0a44.play_animation()\">\n", + " <i class=\"fa fa-play\"></i></button>\n", + " <button title=\"Next frame\" aria-label=\"Next frame\" onclick=\"anim2df701fd018149c4a11e47e89b9e0a44.next_frame()\">\n", + " <i class=\"fa fa-step-forward\"></i></button>\n", + " <button title=\"Last frame\" aria-label=\"Last frame\" onclick=\"anim2df701fd018149c4a11e47e89b9e0a44.last_frame()\">\n", + " <i class=\"fa fa-fast-forward\"></i></button>\n", + " <button title=\"Increase speed\" aria-label=\"Increase speed\" onclick=\"anim2df701fd018149c4a11e47e89b9e0a44.faster()\">\n", + " <i class=\"fa fa-plus\"></i></button>\n", + " </div>\n", + " <form title=\"Repetition mode\" aria-label=\"Repetition mode\" action=\"#n\" name=\"_anim_loop_select2df701fd018149c4a11e47e89b9e0a44\"\n", + " class=\"anim-state\">\n", + " <input type=\"radio\" name=\"state\" value=\"once\" id=\"_anim_radio1_2df701fd018149c4a11e47e89b9e0a44\"\n", + " >\n", + " <label for=\"_anim_radio1_2df701fd018149c4a11e47e89b9e0a44\">Once</label>\n", + " <input type=\"radio\" name=\"state\" value=\"loop\" id=\"_anim_radio2_2df701fd018149c4a11e47e89b9e0a44\"\n", + " checked>\n", + " <label for=\"_anim_radio2_2df701fd018149c4a11e47e89b9e0a44\">Loop</label>\n", + " <input type=\"radio\" name=\"state\" value=\"reflect\" id=\"_anim_radio3_2df701fd018149c4a11e47e89b9e0a44\"\n", + " >\n", + " <label for=\"_anim_radio3_2df701fd018149c4a11e47e89b9e0a44\">Reflect</label>\n", + " </form>\n", + " </div>\n", + "</div>\n", + "\n", + "\n", + "<script language=\"javascript\">\n", + " /* Instantiate the Animation class. */\n", + " /* The IDs given should match those used in the template above. */\n", + " (function() {\n", + " var img_id = \"_anim_img2df701fd018149c4a11e47e89b9e0a44\";\n", + " var slider_id = \"_anim_slider2df701fd018149c4a11e47e89b9e0a44\";\n", + " var loop_select_id = \"_anim_loop_select2df701fd018149c4a11e47e89b9e0a44\";\n", + " var frames = new Array(29);\n", + " \n", + " frames[0] = \"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAABLAAAAMgCAYAAAAz4JsCAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90\\\n", + "bGliIHZlcnNpb24zLjUuMCwgaHR0cHM6Ly9tYXRwbG90bGliLm9yZy8/fFQqAAAACXBIWXMAAAsT\\\n", + 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+ "text/plain": [ + "<Figure size 1200x800 with 1 Axes>" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + }, + { + "data": { + "image/png": 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+ "text/plain": [ + "<Figure size 1200x800 with 1 Axes>" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "display_frames_as_gif(frames, output='./save/rand_cartpole.gif')\n", + "display_frames_as_gif(frames, output='./save/rand_cartpole.mp4')" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## 状态离散化" + ] + }, + { + "cell_type": "code", + "execution_count": 20, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T15:01:26.306200Z", + "start_time": "2023-03-05T15:01:26.301178Z" + } + }, + "outputs": [], + "source": [ + "NUM_DIGITIZED = 6\n", + "\n", + "# 分桶， 5个值，对应 6 个分段，即 6 个桶 (0, 1, 2, 3, 4, 5)\n", + "def bins(clip_min, clip_max, num_bins=NUM_DIGITIZED):\n", + " return np.linspace(clip_min, clip_max, num_bins+1)[1:-1]\n", + "\n", + "# 按 6 进制映射将 4位 6 进制数映射为 id，\n", + "def digitize_state(observation):\n", + " pos, cart_v, angle, pole_v = observation\n", + " digitized = [np.digitize(pos, bins=bins(-2.4, 2.4, NUM_DIGITIZED)), \n", + " np.digitize(cart_v, bins=bins(-3., 3, NUM_DIGITIZED)), \n", + " np.digitize(angle, bins=bins(-0.418, 0.418, NUM_DIGITIZED)), \n", + " np.digitize(pole_v, bins=bins(-2, 2, NUM_DIGITIZED))]\n", + " # 3,1,2,4 (4位10进制数) = 4*10^0 + 2*10^1 + 1*10^2 + 3*10^3，最终的取值范围是 0-9999，总计 10^4 == 10000\n", + " # a,b,c,d (4位6进制数) = d*6^0 + c*6^1 + b*6^2 + a*6^3，最终的取值范围是 0-`5555`(1295)，总计 6^4 == 1296\n", + " ind = sum([d*(NUM_DIGITIZED**i) for i, d in enumerate(digitized)])\n", + " return ind\n", + " " + ] + }, + { + "cell_type": "code", + "execution_count": 21, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T15:01:29.874797Z", + "start_time": "2023-03-05T15:01:29.871656Z" + } + }, + "outputs": [], + "source": [ + "obs = env.reset()" + ] + }, + { + "cell_type": "code", + "execution_count": 22, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T15:01:31.165281Z", + "start_time": "2023-03-05T15:01:31.161059Z" + } + }, + "outputs": [ + { + "data": { + "text/plain": [ + "array([ 0.04002152, 0.00259074, -0.03391407, -0.04418303])" + ] + }, + "execution_count": 22, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "obs" + ] + }, + { + "cell_type": "code", + "execution_count": 22, + "metadata": { + "ExecuteTime": { + "end_time": "2023-03-05T14:25:41.628539Z", + "start_time": "2023-03-05T14:25:41.625136Z" + } + }, + "outputs": [ + { + "data": { + "text/plain": [ + "array([-1.6, -0.8, 0. , 0.8, 1.6])" + ] + }, + "execution_count": 22, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "bins(-2.4, 2.4, NUM_DIGITIZED)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + }, + "toc": { + "base_numbering": 1, + "nav_menu": {}, + "number_sections": true, + "sideBar": true, + "skip_h1_title": false, + "title_cell": "Table of Contents", + "title_sidebar": "Contents", + "toc_cell": false, + "toc_position": {}, + "toc_section_display": true, + "toc_window_display": false + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} |