void POCMAN::GeneratePreferred(const STATE& state, const HISTORY& history,
vector<int>& actions, const STATUS& status) const
{
const POCMAN_STATE& pocstate = safe_cast<const POCMAN_STATE&>(state);
if (history.Size())
{
int action = history.Back().Action;
int observation = history.Back().Observation;
// If power pill and can see a ghost then chase it
if (pocstate.PowerSteps > 0 && (observation & 15 != 0))
{
for (int a = 0; a < 4; ++a)
if (CheckFlag(observation, a))
actions.push_back(a);
}
// Otherwise avoid observed ghosts and avoid changing directions
else
{
for (int a = 0; a < 4; ++a)
{
COORD newpos = NextPos(pocstate.PocmanPos, a);
if (newpos.Valid() && !CheckFlag(observation, a)
&& COORD::Opposite(a) != action)
actions.push_back(a);
}
}
}
}
void QNODE::DisplayValue(HISTORY& history, int maxDepth, ostream& ostr, const double *qvalue) const
{
history.Display(ostr);
if (qvalue) {
ostr << "q=" << *qvalue;
}
ImmediateReward.Print(": r=", ostr);
Observation.Print(", o=", ostr);
ostr << std::endl;
for (int observation = 0; observation < NumChildren; observation++)
{
if (Children[observation])
{
std::stringstream ss;
ss << "\t\t\t#" << observation;
// Children[observation]->GetCumulativeReward().Print(ss.str().c_str(), ostr);
}
}
if (history.Size() >= maxDepth)
return;
for (int observation = 0; observation < NumChildren; observation++)
{
if (Children[observation])
{
history.Back().Observation = observation;
Children[observation]->DisplayValue(history, maxDepth, ostr);
}
}
}
void VNODE::DisplayValue(HISTORY& history, int maxDepth, ostream& ostr) const
{
if (history.Size() >= (uint) maxDepth)
return;
for (int action = 0; action < NumChildren; action++)
{
history.Add(action,-1);
Children[action].DisplayValue(history, maxDepth, ostr);
history.Pop();
}
}
void QNODE::DisplayPolicy(HISTORY& history, int maxDepth, ostream& ostr) const
{
history.Display(ostr);
ostr << ": " << Value.GetValue() << " (" << Value.GetCount() << ")\n";
if (history.Size() >= (uint) maxDepth)
return;
for (int observation = 0; observation < NumChildren; observation++)
{
if (Children[observation])
{
history.Back().Observation = observation;
Children[observation]->DisplayPolicy(history, maxDepth, ostr);
}
}
}
void QNODE::DisplayPolicy(HISTORY& history, int maxDepth, ostream& ostr) const
{
history.Display(ostr);
ImmediateReward.Print("r=", ostr);
Observation.Print(", o=", ostr);
ostr << std::endl;
if (history.Size() >= maxDepth)
return;
for (int observation = 0; observation < NumChildren; observation++)
{
if (Children[observation])
{
history.Back().Observation = observation;
Children[observation]->DisplayPolicy(history, maxDepth, ostr);
}
}
}
void VNODE::DisplayValue(HISTORY& history, int maxDepth, ostream& ostr, const std::vector<double> *qvalues) const
{
if (history.Size() >= maxDepth)
return;
for (int action = 0; action < NumChildren; action++)
{
history.Add(action);
const QNODE &qnode = Children[action];
if (qnode.Applicable()) {
ostr << "n=" << qnode.GetCount() << " ";
if (qvalues) {
qnode.DisplayValue(history, maxDepth, ostr, &(qvalues->at(action)));
}
else {
qnode.DisplayValue(history, maxDepth, ostr);
}
}
history.Pop();
}
}
bool POCMAN::LocalMove(STATE& state, const HISTORY& history,
int stepObs, const STATUS& status) const
{
_unused(stepObs);
_unused(status);
POCMAN_STATE& pocstate = safe_cast<POCMAN_STATE&>(state);
int numGhosts = Random(1, 3); // Change 1 or 2 ghosts at a time
for (int i = 0; i < numGhosts; ++i)
{
int g = Random(NumGhosts);
pocstate.GhostPos[g] = COORD(
Random(Maze.GetXSize()),
Random(Maze.GetYSize()));
if (!Passable(pocstate.GhostPos[g])
|| pocstate.GhostPos[g] == pocstate.PocmanPos)
return false;
}
COORD smellPos;
for (smellPos.X = -SmellRange; smellPos.X <= SmellRange; smellPos.X++)
{
for (smellPos.Y = -SmellRange; smellPos.Y <= SmellRange; smellPos.Y++)
{
COORD pos = pocstate.PocmanPos + smellPos;
if (smellPos != COORD(0, 0) &&
Maze.Inside(pos) &&
CheckFlag(Maze(pos), E_SEED))
pocstate.Food[Maze.Index(pos)] = Bernoulli(FoodProb * 0.5);
}
}
// Just check the last time-step, don't check for full consistency
if (history.Size() == 0)
return true;
int observation = MakeObservations(pocstate);
return history.Back().Observation == observation;
}
void VNODE::DisplayPolicy(HISTORY& history, int maxDepth, ostream& ostr) const
{
if (history.Size() >= (uint) maxDepth)
return;
double bestq = -Infinity;
int besta = -1;
for (int action = 0; action < NumChildren; action++)
{
if (Children[action].Value.GetValue() > bestq)
{
besta = action;
bestq = Children[action].Value.GetValue();
}
}
if (besta != -1)
{
history.Add((uint)besta,0);
Children[besta].DisplayPolicy(history, maxDepth, ostr);
history.Pop();
}
}
void VNODE::DisplayPolicy(HISTORY& history, int maxDepth, ostream& ostr) const
{
if (history.Size() >= maxDepth)
return;
// double bestq = -Infinity;
int besta = -1;
for (int action = 0; action < NumChildren; action++)
{
// if (Children[action].Dirichlet.GetValue() > bestq) //XXX
// {
// besta = action;
// bestq = Children[action].Dirichlet.GetValue();
// }
}
if (besta != -1)
{
history.Add(besta);
Children[besta].DisplayPolicy(history, maxDepth, ostr);
history.Pop();
}
}
void ROCKSAMPLE::GeneratePreferred(const STATE& state, const HISTORY& history,
vector<int>& actions, const STATUS& status) const
{
_unused(status);
static const bool UseBlindPolicy = false;
if (UseBlindPolicy)
{
actions.push_back(COORD::E_EAST);
return;
}
const ROCKSAMPLE_STATE& rockstate =
safe_cast<const ROCKSAMPLE_STATE&>(state);
// Sample rocks with more +ve than -ve observations
int rock = Grid(rockstate.AgentPos);
if (rock >= 0 && !rockstate.Rocks[rock].Collected)
{
int total = 0;
for (int t = 0; t < history.Size(); ++t)
{
if (history[t].Action == rock + 1 + E_SAMPLE)
{
if (history[t].Observation == E_GOOD)
total++;
if (history[t].Observation == E_BAD)
total--;
}
}
if (total > 0)
{
actions.push_back(E_SAMPLE);
return;
}
}
// processes the rocks
bool all_bad = true;
bool north_interesting = false;
bool south_interesting = false;
bool west_interesting = false;
bool east_interesting = false;
for (int rock = 0; rock < NumRocks; ++rock)
{
const ROCKSAMPLE_STATE::ENTRY& entry = rockstate.Rocks[rock];
if (!entry.Collected)
{
int total = 0;
for (int t = 0; t < history.Size(); ++t)
{
if (history[t].Action == rock + 1 + E_SAMPLE)
{
if (history[t].Observation == E_GOOD)
total++;
if (history[t].Observation == E_BAD)
total--;
}
}
if (total >= 0)
{
all_bad = false;
if (RockPos[rock].Y > rockstate.AgentPos.Y)
north_interesting = true;
if (RockPos[rock].Y < rockstate.AgentPos.Y)
south_interesting = true;
if (RockPos[rock].X < rockstate.AgentPos.X)
west_interesting = true;
if (RockPos[rock].X > rockstate.AgentPos.X)
east_interesting = true;
}
}
}
// if all remaining rocks seem bad, then head east
if (all_bad)
{
actions.push_back(COORD::E_EAST);
return;
}
// generate a random legal move, with the exceptions that:
// a) there is no point measuring a rock that is already collected
// b) there is no point measuring a rock too often
// c) there is no point measuring a rock which is clearly bad or good
// d) we never sample a rock (since we need to be sure)
// e) we never move in a direction that doesn't take us closer to
// either the edge of the map or an interesting rock
if (rockstate.AgentPos.Y + 1 < Size && north_interesting)
actions.push_back(COORD::E_NORTH);
if (east_interesting)
actions.push_back(COORD::E_EAST);
if (rockstate.AgentPos.Y - 1 >= 0 && south_interesting)
actions.push_back(COORD::E_SOUTH);
if (rockstate.AgentPos.X - 1 >= 0 && west_interesting)
actions.push_back(COORD::E_WEST);
for (rock = 0; rock < NumRocks; ++rock)
{
if (!rockstate.Rocks[rock].Collected &&
rockstate.Rocks[rock].ProbValuable != 0.0 &&
rockstate.Rocks[rock].ProbValuable != 1.0 &&
rockstate.Rocks[rock].Measured < 5 &&
std::abs(rockstate.Rocks[rock].Count) < 2)
{
actions.push_back(rock + 1 + E_SAMPLE);
}
}
}