diff --git "a/rx_rover_Q_Learning.ipynb" "b/rx_rover_Q_Learning.ipynb" new file mode 100644--- /dev/null +++ "b/rx_rover_Q_Learning.ipynb" @@ -0,0 +1,2448 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Q Learning" + ] + }, + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import gym\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "from matplotlib.patches import Rectangle\n", + "\n", + "import os\n", + "import imageio\n", + "from collections import defaultdict" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "class RoverGridEnv(gym.Env):\n", + " metadata={'render.modes': ['human']}\n", + " def __init__(self,max_ts=30):\n", + " super(RoverGridEnv,self).__init__()\n", + " self.max_ts=max_ts\n", + " self.grid_size=(15,15)\n", + " self.action_space=gym.spaces.MultiDiscrete([5,5])\n", + " self.observation_space=gym.spaces.MultiDiscrete([15,15,15,15,15,15])\n", + " self.actions=[(0,-1),(0,1),(-1,0),(1,0),(0,0)]\n", + " self.targets=np.array([[5,10],[9,13]]) \n", + " self.rover_positions=np.array([[6,4],[10,4]])\n", + " self.operation_desks=np.array([[6,3],[10,3]])\n", + " self.rooms=np.array([[4,7],[4,10],[4,13],[8,7],[8,10],[8,13],[12,7],[12,10],[12,13]])\n", + " self.human_position=np.array([8,9])\n", + " self.rover_done=[False,False] \n", + " self.reset()\n", + "\n", + " def reset(self):\n", + " self.rover_positions=np.array([[6,4],[10,4]])\n", + " self.human_position=np.array([7,8])\n", + " self.rover_done=[False,False]\n", + " self.current_step=0\n", + " return self._get_obs()\n", + "\n", + " def _get_obs(self):\n", + " return tuple(self.rover_positions.flatten().tolist()+self.human_position.tolist())\n", + "\n", + " def step(self,actions):\n", + " rewards=np.zeros(2)\n", + " done=[False,False]\n", + " info={'message': ''}\n", + " for i,action in enumerate(actions):\n", + " if self.rover_done[i]:\n", + " done[i]=True\n", + " continue\n", + " prev_distance=np.linalg.norm(self.targets[i]-self.rover_positions[i])\n", + " if self._is_human_adjacent(self.rover_positions[i]):\n", + " rewards[i] -= 5\n", + " else:\n", + " delta=np.array(self.actions[action])\n", + " new_position=self.rover_positions[i]+delta\n", + " if self._out_of_bounds(new_position):\n", + " rewards[i] -= 15\n", + " continue\n", + " if self._collision(new_position,i):\n", + " rewards[i] -= 15\n", + " continue\n", + " self.rover_positions[i]=new_position\n", + " new_distance=np.linalg.norm(self.targets[i]-new_position)\n", + " if new_distance < prev_distance:\n", + " rewards[i]+=30\n", + " else:\n", + " rewards[i] -= 20\n", + " if np.array_equal(new_position,self.targets[i]):\n", + " rewards[i]+=100\n", + " self.rover_done[i]=True\n", + " done[i]=True\n", + " self._move_human()\n", + " self.current_step+=1\n", + " all_done=all(done) or self.current_step >= self.max_ts\n", + " if all_done and not all(done):\n", + " info['message']='Maximum number of timestamps reached'\n", + " return self._get_obs(),rewards,all_done,info\n", + "\n", + " def _is_human_adjacent(self,position):\n", + " for delta in [(1,1),(1,-1),(-1,1),(-1,-1)]:\n", + " adjacent_position=position+np.array(delta)\n", + " if np.array_equal(adjacent_position,self.human_position):\n", + " return True\n", + " return False\n", + "\n", + " def _out_of_bounds(self,position):\n", + " return not (0 <= position[0] < self.grid_size[0] and 0 <= position[1] < self.grid_size[1])\n", + " \n", + " def _collision(self,new_position,rover_index):\n", + " if any(np.array_equal(new_position,pos) for pos in np.delete(self.rover_positions,rover_index,axis=0)):\n", + " return True # Collision with the other rover\n", + " if any(np.array_equal(new_position,pos) for pos in self.rooms):\n", + " return True # Collision with a room\n", + " if any(np.array_equal(new_position,pos) for pos in self.operation_desks):\n", + " return True # Collision with an operation desk\n", + " if np.array_equal(new_position,self.human_position):\n", + " return True # Collision with the human\n", + " return False\n", + " \n", + " def _move_human(self):\n", + " valid_moves=[move for move in self.actions if not self._out_of_bounds(self.human_position+np.array(move))]\n", + " self.human_position+=np.array(valid_moves[np.random.choice(len(valid_moves))])\n", + " \n", + " def render(self,mode='human',save_path=None):\n", + " fig,ax=plt.subplots(figsize=(7,7))\n", + " ax.set_xlim(0,self.grid_size[0])\n", + " ax.set_ylim(0,self.grid_size[1])\n", + " ax.set_xticks(np.arange(0,15,1))\n", + " ax.set_yticks(np.arange(0,15,1))\n", + " ax.grid(which='both')\n", + "\n", + " # draw elements\n", + " for pos in self.rover_positions:\n", + " ax.add_patch(Rectangle((pos[0]-0.5,pos[1]-0.5),1,1,color='blue'))\n", + " for pos in self.operation_desks:\n", + " ax.add_patch(Rectangle((pos[0]-0.5,pos[1]-0.5),1,1,color='darkgreen'))\n", + " for pos in self.rooms:\n", + " ax.add_patch(Rectangle((pos[0]-0.5,pos[1]-0.5),1,1,color='black'))\n", + " ax.add_patch(Rectangle((self.human_position[0]-0.5,self.human_position[1]-0.5),1,1,color='purple'))\n", + " for pos in self.targets:\n", + " ax.add_patch(Rectangle((pos[0]-0.5,pos[1]-0.5),1,1,color='yellow',alpha=0.5))\n", + "\n", + " if save_path is not None:\n", + " plt.savefig(save_path)\n", + " plt.close()\n", + " \n", + " def close(self):\n", + " plt.close()" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Initial Setup\n" + ] + }, + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "env=RoverGridEnv()\n", + "print(\"Initial Setup\")\n", + "observation=env.reset()\n", + "env.render()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Q learning" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [], + "source": [ + "class rover_QLearning:\n", + " def __init__(self,\n", + " actions,\n", + " alpha=1e-4,\n", + " gamma=0.9,\n", + " eps=0.5,\n", + " eps_decay=0.995,\n", + " eps_min=0.01):\n", + " self.actions=actions\n", + " self.alpha=alpha \n", + " self.gamma=gamma \n", + " self.eps=eps\n", + " self.eps_decay=eps_decay \n", + " self.eps_min=eps_min \n", + " self.q_table=defaultdict(lambda: np.zeros(len(self.actions))) \n", + "\n", + " def choose_action(self,stt):\n", + " if np.random.random() < self.eps:\n", + " return np.random.choice(len(self.actions))\n", + " else:\n", + " return np.argmax(self.q_table[stt]) \n", + "\n", + " def update(self,\n", + " stt,\n", + " action,\n", + " reward,\n", + " nxt_stt):\n", + " best_next_action=np.argmax(self.q_table[nxt_stt])\n", + " td_target=reward+self.gamma*self.q_table[nxt_stt][best_next_action]\n", + " td_error=td_target-self.q_table[stt][action]\n", + " self.q_table[stt][action]+=self.alpha*td_error\n", + "\n", + " def decay_epsilon(self):\n", + " self.eps=max(self.eps_min,\n", + " self.eps*self.eps_decay)" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Episode 1/2000 completed with rewards: -610.0\n", + "Episode 2/2000 completed with rewards: -360.0\n", + "Episode 3/2000 completed with rewards: -410.0\n", + "Episode 4/2000 completed with rewards: -415.0\n", + "Episode 5/2000 completed with rewards: -595.0\n", + "Episode 6/2000 completed with rewards: -455.0\n", + "Episode 7/2000 completed with rewards: -435.0\n", + "Episode 8/2000 completed 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"Episode 1621/2000 completed with rewards: 710.0\n", + "Episode 1622/2000 completed with rewards: 710.0\n", + "Episode 1623/2000 completed with rewards: 160.0\n", + "Episode 1624/2000 completed with rewards: 315.0\n", + "Episode 1625/2000 completed with rewards: 695.0\n", + "Episode 1626/2000 completed with rewards: 35.0\n", + "Episode 1627/2000 completed with rewards: 710.0\n", + "Episode 1628/2000 completed with rewards: 685.0\n", + "Episode 1629/2000 completed with rewards: 695.0\n", + "Episode 1630/2000 completed with rewards: 710.0\n", + "Episode 1631/2000 completed with rewards: 465.0\n", + "Episode 1632/2000 completed with rewards: 695.0\n", + "Episode 1633/2000 completed with rewards: 710.0\n", + "Episode 1634/2000 completed with rewards: 730.0\n", + "Episode 1635/2000 completed with rewards: 700.0\n", + "Episode 1636/2000 completed with rewards: 745.0\n", + "Episode 1637/2000 completed with rewards: 710.0\n", + "Episode 1638/2000 completed with rewards: 710.0\n", + "Episode 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+ "Episode 1948/2000 completed with rewards: 690.0\n", + "Episode 1949/2000 completed with rewards: 710.0\n", + "Episode 1950/2000 completed with rewards: 710.0\n", + "Episode 1951/2000 completed with rewards: 785.0\n", + "Episode 1952/2000 completed with rewards: 695.0\n", + "Episode 1953/2000 completed with rewards: 705.0\n", + "Episode 1954/2000 completed with rewards: 710.0\n", + "Episode 1955/2000 completed with rewards: 710.0\n", + "Episode 1956/2000 completed with rewards: 710.0\n", + "Episode 1957/2000 completed with rewards: 695.0\n", + "Episode 1958/2000 completed with rewards: 705.0\n", + "Episode 1959/2000 completed with rewards: 645.0\n", + "Episode 1960/2000 completed with rewards: 700.0\n", + "Episode 1961/2000 completed with rewards: 720.0\n", + "Episode 1962/2000 completed with rewards: 720.0\n", + "Episode 1963/2000 completed with rewards: 680.0\n", + "Episode 1964/2000 completed with rewards: 690.0\n", + "Episode 1965/2000 completed with rewards: 725.0\n", + "Episode 1966/2000 completed with rewards: 710.0\n", + "Episode 1967/2000 completed with rewards: 710.0\n", + "Episode 1968/2000 completed with rewards: 710.0\n", + "Episode 1969/2000 completed with rewards: 740.0\n", + "Episode 1970/2000 completed with rewards: 695.0\n", + "Episode 1971/2000 completed with rewards: 715.0\n", + "Episode 1972/2000 completed with rewards: 735.0\n", + "Episode 1973/2000 completed with rewards: 710.0\n", + "Episode 1974/2000 completed with rewards: 710.0\n", + "Episode 1975/2000 completed with rewards: 700.0\n", + "Episode 1976/2000 completed with rewards: 710.0\n", + "Episode 1977/2000 completed with rewards: 710.0\n", + "Episode 1978/2000 completed with rewards: 765.0\n", + "Episode 1979/2000 completed with rewards: 710.0\n", + "Episode 1980/2000 completed with rewards: 705.0\n", + "Episode 1981/2000 completed with rewards: 700.0\n", + "Episode 1982/2000 completed with rewards: 670.0\n", + "Episode 1983/2000 completed with rewards: 470.0\n", + "Episode 1984/2000 completed with rewards: 695.0\n", + "Episode 1985/2000 completed with rewards: 705.0\n", + "Episode 1986/2000 completed with rewards: 490.0\n", + "Episode 1987/2000 completed with rewards: 710.0\n", + "Episode 1988/2000 completed with rewards: 690.0\n", + "Episode 1989/2000 completed with rewards: 710.0\n", + "Episode 1990/2000 completed with rewards: 710.0\n", + "Episode 1991/2000 completed with rewards: 690.0\n", + "Episode 1992/2000 completed with rewards: 720.0\n", + "Episode 1993/2000 completed with rewards: 705.0\n", + "Episode 1994/2000 completed with rewards: 700.0\n", + "Episode 1995/2000 completed with rewards: 705.0\n", + "Episode 1996/2000 completed with rewards: 215.0\n", + "Episode 1997/2000 completed with rewards: 235.0\n", + "Episode 1998/2000 completed with rewards: 695.0\n", + "Episode 1999/2000 completed with rewards: 710.0\n", + "Episode 2000/2000 completed with rewards: 700.0\n" + ] + } + ], + "source": [ + "env=RoverGridEnv()\n", + "agents=[\n", + " rover_QLearning(actions=[0,1,2,3,4]),\n", + " rover_QLearning(actions=[0,1,2,3,4])\n", + "]\n", + "num_epis=2000\n", + "episode_rwds_q_learning=[]\n", + "epsilon_values_agent1 = []\n", + "epsilon_values_agent2 = []\n", + "#Training\n", + "for episode in range(num_epis):\n", + " stt=env.reset()\n", + " cumulative_rewards=[0,0]\n", + " for step in range(env.max_ts):\n", + " actions=[agent.choose_action(stt) for agent in agents]\n", + " nxt_stt,rewards,done,info=env.step(actions)\n", + " for i,agent in enumerate(agents):\n", + " agent.update(stt,actions[i],rewards[i],nxt_stt)\n", + " cumulative_rewards[i]+=rewards[i]\n", + " stt=nxt_stt\n", + " if done:\n", + " break\n", + " episode_rwds_q_learning.append(np.sum(cumulative_rewards)) \n", + " for i, agent in enumerate(agents):\n", + " agent.decay_epsilon()\n", + " if i == 0:\n", + " epsilon_values_agent1.append(agent.eps) \n", + " else:\n", + " epsilon_values_agent2.append(agent.eps) \n", + " print(f\"Episode {episode+1}/{num_epis} completed with rewards: {np.sum(cumulative_rewards)}\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "plt.figure(figsize=(12,6))\n", + "plt.plot(range(len(episode_rwds_q_learning)),episode_rwds_q_learning)\n", + "plt.title(\"Total Rewards per Episode\")\n", + "plt.xlabel(\"Episode\")\n", + "plt.ylabel(\"Total Rewards\")\n", + "plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "plt.figure(figsize=(12, 6))\n", + "plt.plot(range(len(epsilon_values_agent1)), epsilon_values_agent1)\n", + "plt.title(\"Epsilon Decay Curve - Agent 1\")\n", + "plt.xlabel(\"Episode\")\n", + "plt.ylabel(\"Epsilon Value\")\n", + "plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "plt.figure(figsize=(12, 6))\n", + "plt.plot(range(len(epsilon_values_agent2)), epsilon_values_agent2)\n", + "plt.title(\"Epsilon Decay Curve - Agent 2\")\n", + "plt.xlabel(\"Episode\")\n", + "plt.ylabel(\"Epsilon Value\")\n", + "plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "C:\\Users\\91740\\AppData\\Local\\Temp\\ipykernel_8004\\1289474676.py:25: DeprecationWarning: Starting with ImageIO v3 the behavior of this function will switch to that of iio.v3.imread. To keep the current behavior (and make this warning disappear) use `import imageio.v2 as imageio` or call `imageio.v2.imread` directly.\n", + " frames = [imageio.imread(path) for path in frames_paths]\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Episode 1 evaluated, GIF saved to q_learning_eval_gifs\\episode_1.gif.\n", + "Episode 2 evaluated, GIF saved to q_learning_eval_gifs\\episode_2.gif.\n", + "Episode 3 evaluated, GIF saved to q_learning_eval_gifs\\episode_3.gif.\n", + "Episode 4 evaluated, GIF saved to q_learning_eval_gifs\\episode_4.gif.\n", + "Episode 5 evaluated, GIF saved to q_learning_eval_gifs\\episode_5.gif.\n", + "Episode 6 evaluated, GIF saved to q_learning_eval_gifs\\episode_6.gif.\n", + "Episode 7 evaluated, GIF saved to q_learning_eval_gifs\\episode_7.gif.\n", + "Episode 8 evaluated, GIF saved to q_learning_eval_gifs\\episode_8.gif.\n", + "Episode 9 evaluated, GIF saved to q_learning_eval_gifs\\episode_9.gif.\n", + "Episode 10 evaluated, GIF saved to q_learning_eval_gifs\\episode_10.gif.\n" + ] + }, + { + "data": { + "image/png": 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "def evaluate_q_learning_agent(env,agents,num_epis=10,output_dir='q_learning_eval_gifs'):\n", + " if not os.path.exists(output_dir):\n", + " os.makedirs(output_dir)\n", + " eval_rwds_q_learning=[]\n", + " for episode in range(num_epis):\n", + " stt=env.reset()\n", + " cumulative_rewards=[0,0]\n", + " frames_paths=[]\n", + " done=False\n", + " timestep=0\n", + " while not done:\n", + " actions=[agent.choose_action(stt) for agent in agents]\n", + " nxt_stt,rewards,done,_=env.step(actions)\n", + " cumulative_rewards[0]+=rewards[0]\n", + " cumulative_rewards[1]+=rewards[1]\n", + " stt=nxt_stt\n", + " frame_path=os.path.join(output_dir,f\"episode_{episode+1}_frame_{timestep}.png\")\n", + " env.render(save_path=frame_path)\n", + " frames_paths.append(frame_path)\n", + " timestep+=1\n", + " eval_rwds_q_learning.append(np.sum(cumulative_rewards))\n", + " frames=[imageio.imread(path) for path in frames_paths]\n", + " gif_path=os.path.join(output_dir,f\"episode_{episode+1}.gif\")\n", + " imageio.mimsave(gif_path,frames,fps=10)\n", + " for path in frames_paths:\n", + " os.remove(path)\n", + " print(f\"Episode {episode+1} evaluated, GIF saved to {gif_path}.\")\n", + "\n", + " plt.plot(range(1,num_epis+1),eval_rwds_q_learning,marker='o')\n", + " plt.xlabel('Episode')\n", + " plt.ylabel('Total Reward')\n", + " plt.title('Evaluation Rewards')\n", + " plt.grid(True)\n", + " plt.show()\n", + "evaluate_q_learning_agent(env,agents,num_epis=10)" + ] + } + ], + "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": "3.8.10" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +}