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195 lines
7.1 KiB
195 lines
7.1 KiB
# Maze simulation environment for Reinforcement Learning tutorial
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# by Dmitry Soshnikov
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# http://soshnikov.com
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import matplotlib.pyplot as plt
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import numpy as np
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import cv2
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import random
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import math
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def clip(min,max,x):
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if x<min:
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return min
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if x>max:
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return max
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return x
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def imload(fname,size):
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img = cv2.imread(fname)
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img = cv2.cvtColor(img,cv2.COLOR_BGR2RGB)
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img = cv2.resize(img,(size,size),interpolation=cv2.INTER_LANCZOS4)
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img = img / np.max(img)
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return img
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def draw_line(dx,dy,size=50):
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p=np.ones((size-2,size-2,3))
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if dx==0:
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dx=0.001
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m = (size-2)//2
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l = math.sqrt(dx*dx+dy*dy)*(size-4)/2
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a = math.atan(dy/dx)
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cv2.line(p,(int(m-l*math.cos(a)),int(m-l*math.sin(a))),(int(m+l*math.cos(a)),int(m+l*math.sin(a))),(0,0,0),1)
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s = -1 if dx<0 else 1
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cv2.circle(p,(int(m+s*l*math.cos(a)),int(m+s*l*math.sin(a))),3,0)
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return p
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def probs(v):
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v = v-v.min()
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if (v.sum()>0):
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v = v/v.sum()
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return v
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class Board:
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class Cell:
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empty = 0
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water = 1
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wolf = 2
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tree = 3
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apple = 4
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def __init__(self,width,height,size=50):
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self.width = width
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self.height = height
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self.size = size+2
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self.matrix = np.zeros((width,height))
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self.grid_color = (0.6,0.6,0.6)
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self.background_color = (1.0,1.0,1.0)
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self.grid_thickness = 1
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self.grid_line_type = cv2.LINE_AA
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self.pics = {
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"wolf" : imload('../images/wolf.png',size-4),
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"apple" : imload('../images/apple.png',size-4),
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"human" : imload('../images/human.png',size-4)
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}
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self.human = (0,0)
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self.frame_no = 0
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def randomize(self,water_size=5, num_water=3, num_wolves=1, num_trees=5, num_apples=3,seed=None):
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if seed:
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random.seed(seed)
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for _ in range(num_water):
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x = random.randint(0,self.width-1)
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y = random.randint(0,self.height-1)
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for _ in range(water_size):
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self.matrix[x,y] = Board.Cell.water
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x = clip(0,self.width-1,x+random.randint(-1,1))
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y = clip(0,self.height-1,y+random.randint(-1,1))
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for _ in range(num_trees):
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while True:
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x = random.randint(0,self.width-1)
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y = random.randint(0,self.height-1)
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if self.matrix[x,y]==Board.Cell.empty:
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self.matrix[x,y] = Board.Cell.tree # tree
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break
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for _ in range(num_wolves):
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while True:
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x = random.randint(0,self.width-1)
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y = random.randint(0,self.height-1)
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if self.matrix[x,y]==Board.Cell.empty:
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self.matrix[x,y] = Board.Cell.wolf # wolf
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break
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for _ in range(num_apples):
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while True:
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x = random.randint(0,self.width-1)
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y = random.randint(0,self.height-1)
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if self.matrix[x,y]==Board.Cell.empty:
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self.matrix[x,y] = Board.Cell.apple
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break
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def at(self,pos=None):
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if pos:
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return self.matrix[pos[0],pos[1]]
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else:
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return self.matrix[self.human[0],self.human[1]]
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def is_valid(self,pos):
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return pos[0]>=0 and pos[0]<self.width and pos[1]>=0 and pos[1] < self.height
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def move_pos(self, pos, dpos):
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return (pos[0] + dpos[0], pos[1] + dpos[1])
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def move(self,dpos,check_correctness=True):
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new_pos = self.move_pos(self.human,dpos)
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if self.is_valid(new_pos) or not check_correctness:
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self.human = new_pos
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def random_pos(self):
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x = random.randint(0,self.width-1)
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y = random.randint(0,self.height-1)
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return (x,y)
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def random_start(self):
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while True:
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pos = self.random_pos()
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if self.at(pos) == Board.Cell.empty:
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self.human = pos
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break
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def image(self,Q=None):
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img = np.zeros((self.height*self.size+1,self.width*self.size+1,3))
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img[:,:,:] = self.background_color
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# Draw water
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for x in range(self.width):
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for y in range(self.height):
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if (x,y) == self.human:
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ov = self.pics['human']
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img[self.size*y+2:self.size*y+ov.shape[0]+2,self.size*x+2:self.size*x+2+ov.shape[1],:] = np.minimum(ov,1.0)
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continue
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if self.matrix[x,y] == Board.Cell.water:
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img[self.size*y:self.size*(y+1),self.size*x:self.size*(x+1),:] = (0,0,1.0)
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if self.matrix[x,y] == Board.Cell.wolf:
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ov = self.pics['wolf']
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img[self.size*y+2:self.size*y+ov.shape[0]+2,self.size*x+2:self.size*x+2+ov.shape[1],:] = np.minimum(ov,1.0)
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if self.matrix[x,y] == Board.Cell.apple: # apple
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ov = self.pics['apple']
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img[self.size*y+2:self.size*y+ov.shape[0]+2,self.size*x+2:self.size*x+2+ov.shape[1],:] = np.minimum(ov,1.0)
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if self.matrix[x,y] == Board.Cell.tree: # tree
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img[self.size*y:self.size*(y+1),self.size*x:self.size*(x+1),:] = (0,1.0,0)
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if self.matrix[x,y] == Board.Cell.empty and Q is not None:
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p = probs(Q[x,y])
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dx,dy = 0,0
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for i,(ddx,ddy) in enumerate([(-1,0),(1,0),(0,-1),(0,1)]):
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dx += ddx*p[i]
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dy += ddy*p[i]
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l = draw_line(dx,dy,self.size)
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img[self.size*y+2:self.size*y+l.shape[0]+2,self.size*x+2:self.size*x+2+l.shape[1],:] = l
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# Draw grid
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for i in range(self.height+1):
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img[:,i*self.size] = 0.3
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#cv2.line(img,(0,i*self.size),(self.width*self.size,i*self.size), self.grid_color, self.grid_thickness,lineType=self.grid_line_type)
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for j in range(self.width+1):
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img[j*self.size,:] = 0.3
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#cv2.line(img,(j*self.size,0),(j*self.size,self.height*self.size), self.grid_color, self.grid_thickness,lineType=self.grid_line_type)
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return img
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def plot(self,Q=None):
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plt.figure(figsize=(11,6))
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plt.imshow(self.image(Q),interpolation='hanning')
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def saveimage(self,filename,Q=None):
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cv2.imwrite(filename,255*self.image(Q)[...,::-1])
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def walk(self,policy,save_to=None,start=None):
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n = 0
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if start:
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self.human = start
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else:
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self.random_start()
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while True:
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if save_to:
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self.saveimage(save_to.format(self.frame_no))
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self.frame_no+=1
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if self.at() == Board.Cell.apple:
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return n # success!
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if self.at() in [Board.Cell.wolf, Board.Cell.water]:
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return -1 # eaten by wolf or drowned
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while True:
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a = policy(self)
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new_pos = self.move_pos(self.human,a)
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if self.is_valid(new_pos) and self.at(new_pos)!=Board.Cell.water:
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self.move(a) # do the actual move
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break
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n+=1 |