void CActorFromActionValue::receiveError(double critic, CStateCollection *oldState, CAction *action, CActionData *)
{
int actionIndex = actions->getIndex(action);
eTraces->updateETraces(action->getDuration());
eTraces->addETrace(oldState, (actionIndex == 0) - 0.5);
eTraces->updateVFunction(critic * getLearningRate());
}
void CActorFromQFunction::receiveError(double critic, CStateCollection *state, CAction *action, CActionData *)
{
DebugPrint('t',"Actor updating Etraces \n");
eTraces->updateETraces(action);
eTraces->addETrace(state, action);
DebugPrint('t', "Actor updating QFunction with critic %f \n", critic);
eTraces->updateQFunction(critic * getLearningRate());
}
void CActorFromQFunctionAndPolicy::receiveError(double critic, CStateCollection *state, CAction *Action, CActionData *)
{
policy->getActionProbabilities(state, qFunction->getActions(), actionValues);
double prob = actionValues[qFunction->getActions()->getIndex(Action)];
eTraces->updateETraces(Action);
eTraces->addETrace(state, Action, getParameter("PolicyMinimumLearningRate") + 1.0 - prob);
eTraces->updateQFunction(critic * getLearningRate());
}
void AdaDeltaSolver<Dtype>::applyUpdate(){
CHECK(Dragon::get_root_solver());
Dtype rate = getLearningRate();
// AdaDelta do not need base lr
if (param.display() && iter%param.display() == 0)
cout << "Iteration " << iter << ", lr = AdaDelta" << endl;
clipGradients();
vector<Blob<Dtype>*> net_params = net->getLearnableParams();
for (int i = 0; i < net_params.size(); i++){
normalize(i);
regularize(i);
computeUpdateValue(i, rate);
net_params[i]->update();
}
}
bool cvzMmcm_IDL::read(yarp::os::ConnectionReader& connection) {
yarp::os::idl::WireReader reader(connection);
reader.expectAccept();
if (!reader.readListHeader()) { reader.fail(); return false; }
yarp::os::ConstString tag = reader.readTag();
bool direct = (tag=="__direct__");
if (direct) tag = reader.readTag();
while (!reader.isError()) {
// TODO: use quick lookup, this is just a test
if (tag == "start") {
start();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(0)) return false;
}
reader.accept();
return true;
}
if (tag == "pause") {
pause();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(0)) return false;
}
reader.accept();
return true;
}
if (tag == "quit") {
bool _return;
_return = quit();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeBool(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "setLearningRate") {
double l;
if (!reader.readDouble(l)) {
reader.fail();
return false;
}
setLearningRate(l);
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(0)) return false;
}
reader.accept();
return true;
}
if (tag == "getLearningRate") {
double _return;
_return = getLearningRate();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeDouble(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "setSigma") {
double s;
if (!reader.readDouble(s)) {
reader.fail();
return false;
}
setSigma(s);
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(0)) return false;
}
reader.accept();
return true;
}
if (tag == "getSigma") {
double _return;
_return = getSigma();
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeDouble(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "getActivity") {
int32_t x;
int32_t y;
int32_t z;
if (!reader.readI32(x)) {
reader.fail();
return false;
}
if (!reader.readI32(y)) {
reader.fail();
return false;
}
if (!reader.readI32(z)) {
reader.fail();
return false;
}
double _return;
_return = getActivity(x,y,z);
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeDouble(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "saveWeightsToFile") {
std::string path;
if (!reader.readString(path)) {
reader.fail();
return false;
}
bool _return;
_return = saveWeightsToFile(path);
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeBool(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "loadWeightsFromFile") {
std::string path;
if (!reader.readString(path)) {
reader.fail();
return false;
}
bool _return;
_return = loadWeightsFromFile(path);
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeBool(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "saveRF") {
std::string path;
if (!reader.readString(path)) {
reader.fail();
return false;
}
bool _return;
_return = saveRF(path);
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(1)) return false;
if (!writer.writeBool(_return)) return false;
}
reader.accept();
return true;
}
if (tag == "help") {
std::string functionName;
if (!reader.readString(functionName)) {
functionName = "--all";
}
std::vector<std::string> _return=help(functionName);
yarp::os::idl::WireWriter writer(reader);
if (!writer.isNull()) {
if (!writer.writeListHeader(2)) return false;
if (!writer.writeTag("many",1, 0)) return false;
if (!writer.writeListBegin(BOTTLE_TAG_INT, static_cast<uint32_t>(_return.size()))) return false;
std::vector<std::string> ::iterator _iterHelp;
for (_iterHelp = _return.begin(); _iterHelp != _return.end(); ++_iterHelp)
{
if (!writer.writeString(*_iterHelp)) return false;
}
if (!writer.writeListEnd()) return false;
}
reader.accept();
return true;
}
if (reader.noMore()) { reader.fail(); return false; }
yarp::os::ConstString next_tag = reader.readTag();
if (next_tag=="") break;
tag = tag + "_" + next_tag;
}
return false;
}