From 5c323aaf85ec017efd04da7198a89a0240020fe4 Mon Sep 17 00:00:00 2001
From: chzhang <zch921005@126.com>
Date: Sun, 5 Mar 2023 23:12:53 +0800
Subject: CartPole digitize

---
 rl/tutorials/07_cart_pole_digitize_space.ipynb | 6117 ++++++++++++++++++++++++
 1 file changed, 6117 insertions(+)
 create mode 100644 rl/tutorials/07_cart_pole_digitize_space.ipynb

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",
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+       "         [255, 255, 255]],\n",
+       " \n",
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+       " \n",
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+       " array([[[255, 255, 255],\n",
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+       " \n",
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+       " \n",
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+       "         [255, 255, 255],\n",
+       "         ...,\n",
+       "         [255, 255, 255],\n",
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+       "         [255, 255, 255]]], dtype=uint8),\n",
+       " array([[[255, 255, 255],\n",
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+       "         [255, 255, 255],\n",
+       "         ...,\n",
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+       "         ...,\n",
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+       " \n",
+       "        [[255, 255, 255],\n",
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+       "         ...,\n",
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+       " \n",
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+       "         ...,\n",
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+       "         ...,\n",
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+       " array([[[255, 255, 255],\n",
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+       "         [255, 255, 255],\n",
+       "         ...,\n",
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+       " \n",
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+       "         [255, 255, 255],\n",
+       "         ...,\n",
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+       "         ...,\n",
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+       "        ...,\n",
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+       "         ...,\n",
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+       "         [255, 255, 255],\n",
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+       " \n",
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+       "         [255, 255, 255],\n",
+       "         ...,\n",
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+       "         [255, 255, 255]],\n",
+       " \n",
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+       "         [255, 255, 255],\n",
+       "         [255, 255, 255],\n",
+       "         ...,\n",
+       "         [255, 255, 255],\n",
+       "         [255, 255, 255],\n",
+       "         [255, 255, 255]]], dtype=uint8),\n",
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+       "         ...,\n",
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+       "         ...,\n",
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+       "         ...,\n",
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+       " array([[[255, 255, 255],\n",
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+       "         [255, 255, 255],\n",
+       "         ...,\n",
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+       "         ...,\n",
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+       " \n",
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+       "         ...,\n",
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+       "         [255, 255, 255],\n",
+       "         [255, 255, 255]]], dtype=uint8),\n",
+       " array([[[255, 255, 255],\n",
+       "         [255, 255, 255],\n",
+       "         [255, 255, 255],\n",
+       "         ...,\n",
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+       "         [255, 255, 255]],\n",
+       " \n",
+       "        [[255, 255, 255],\n",
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+       "         [255, 255, 255],\n",
+       "         ...,\n",
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+       "         [255, 255, 255],\n",
+       "         [255, 255, 255]],\n",
+       " \n",
+       "        [[255, 255, 255],\n",
+       "         [255, 255, 255],\n",
+       "         [255, 255, 255],\n",
+       "         ...,\n",
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+       "         [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",
+       "AAALEwEAmpwYAAAa2klEQVR4nO3dzY/c90HH8e/Mrj3ObtMmlt08tElqAghoBQkNBU4lkbAE5YTE\\\n",
+       "IQc48G/kzi1/ASLKJadISEGVEEWNBBIPUhBKQ1vHQVFonQccJ3UdP67X3uFSVU2UlHi1M/Oe+vU6\\\n",
+       "7s5393OYw+g9v/nNZD6fDwAAAAComq56AAAAAAD8PAIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAA\\\n",
+       "AGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAA\\\n",
+       "aQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABp\\\n",
+       "AhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkC\\\n",
+       "FgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIW\\\n",
+       "AAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYA\\\n",
+       "AAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAA\\\n",
+       "AABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAA\\\n",
+       "AGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAA\\\n",
+       "aQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABp\\\n",
+       "AhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkC\\\n",
+       "FgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIWAAAAAGkCFgAAAABpAhYAAAAAaQIW\\\n",
+       "AAAAAGmbqx4APzFf9QAAAABSJqseQIcrsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAA\\\n",
+       "SBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABI\\\n",
+       "E7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgT\\\n",
+       "sAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOw\\\n",
+       "AAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AA\\\n",
+       "AAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAA\\\n",
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+       "SBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABI\\\n",
+       "E7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgT\\\n",
+       "sAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOwAAAAAEgTsAAAAABIE7AAAAAASBOw\\\n",
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+       "QmCC\\\n",
+       "\"\n",
+       "\n",
+       "\n",
+       "    /* set a timeout to make sure all the above elements are created before\n",
+       "       the object is initialized. */\n",
+       "    setTimeout(function() {\n",
+       "        anim2df701fd018149c4a11e47e89b9e0a44 = new Animation(frames, img_id, slider_id, 50.0,\n",
+       "                                 loop_select_id);\n",
+       "    }, 0);\n",
+       "  })()\n",
+       "</script>\n"
+      ],
+      "text/plain": [
+       "<IPython.core.display.HTML object>"
+      ]
+     },
+     "execution_count": 19,
+     "metadata": {},
+     "output_type": "execute_result"
+    },
+    {
+     "data": {
+      "image/png": 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\n",
+      "text/plain": [
+       "<Figure size 1200x800 with 1 Axes>"
+      ]
+     },
+     "metadata": {
+      "needs_background": "light"
+     },
+     "output_type": "display_data"
+    },
+    {
+     "data": {
+      "image/png": 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\n",
+      "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
+}
-- 
cgit v1.2.3