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RL_exhibit
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5 Commits
master ... developmen

Author SHA1 Message Date
Ugo Finnendahl 58aa5df430 refactoring
5 years ago
Ugo Finnendahl 12a5cb383e State switching. Needs refactoring
5 years ago
Ugo Finnendahl 088bb10805 added images
5 years ago
Ugo Finnendahl a18d6e0599 changed palette scale and color
5 years ago
Ugo Finnendahl c717501c24 silder
5 years ago
9 changed files with 786 additions and 377 deletions
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Show Stats
  1. 47
      css/src/style.scss
  2. 77
      css/style.css
  3. 2
      css/style.min.css
  4. BIN
      img/robot.png
  5. BIN
      img/station.png
  6. 83
      index.html
  7. 2
      js/controls.js
  8. 35
      js/rl.js
  9. 879
      js/view.js

47
css/src/style.scss
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@ -1,8 +1,11 @@
// compileCompressed
*{
margin: 0;
padding: 0;
}
body{
margin: 0;
padding: 0;
// background-color: ;
font-family: sans-serif;
}
@ -13,17 +16,30 @@ body{
#canvas{
height: 100%;
}
nav{
position: absolute;
top: 10px;
left: 10px;
}
button{
margin: 0.3em;
}
.absolute{
position: absolute;
top:0;
left:0;
}
.stage{
display: flex;
justify-content: center;
align-items: center;
height: 100vh;
}
.plot{
position: absolute;
top: 2vh;
@ -33,9 +49,38 @@ nav{
}
.sliders{
position: absolute;
top: 20vh;
left: 2vw;
width: 20vw;
}
#formula{
position: absolute;
top: 71.5vh;
width: 90vw;
}
.score{
position: absolute;
top: 7vh;
left: 2vw;
width: 20vw;
height: 10vw;
}
.lightbox{
padding: 2em;
position: absolute;
top:0;
left: 50%;
transform: translateX(-50%) translateY(-100%);
z-index: 10;
max-width: 50%;
background-color: #BBB;
transition: all 1s;
&.active{
top:20%;
transform: translateX(-50%) translateY(-50%);
}
}

77
css/style.css
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@ -0,0 +1,77 @@
* {
margin: 0;
padding: 0;
}
body {
margin: 0;
padding: 0;
font-family: sans-serif;
}
#container {
height: 100vh;
position: relative;
}
#canvas {
height: 100%;
}
nav {
position: absolute;
top: 10px;
left: 10px;
}
.absolute {
position: absolute;
top: 0;
left: 0;
}
.plot {
position: absolute;
top: 2vh;
right: 2vw;
width: 20vw;
height: 10vw;
}
.sliders {
position: absolute;
top: 20vh;
left: 2vw;
width: 20vw;
}
#formula {
position: absolute;
top: 71.5vh;
width: 90vw;
}
.score {
position: absolute;
top: 7vh;
left: 2vw;
width: 20vw;
}
.lightbox {
padding: 2em;
position: absolute;
top: 0;
left: 50%;
transform: translateX(-50%) translateY(-100%);
z-index: 10;
width: 50%;
height: 40%;
background-color: #BBB;
transition: all 1s;
}
.lightbox.active {
top: 50%;
transform: translateX(-50%) translateY(-50%);
}

2
css/style.min.css vendored
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@ -1 +1 @@
*{margin:0;padding:0}body{font-family:sans-serif}#container{height:100vh;position:relative}#canvas{height:100%}nav{position:absolute;top:10px;left:10px}.absolute{position:absolute;top:0;left:0}.plot{position:absolute;top:2vh;right:2vw;width:20vw;height:10vw}.sliders{position:absolute;top:7vh;left:2vw;width:20vw;height:10vw}
*{margin:0;padding:0}body{margin:0;padding:0;font-family:sans-serif}#container{height:100vh;position:relative}#canvas{height:100%}nav{position:absolute;top:10px;left:10px}button{margin:0.3em}.absolute{position:absolute;top:0;left:0}.stage{display:flex;justify-content:center;align-items:center;height:100vh}.plot{position:absolute;top:2vh;right:2vw;width:20vw;height:10vw}.sliders{position:absolute;top:20vh;left:2vw;width:20vw}#formula{position:absolute;top:71.5vh;width:90vw}.score{position:absolute;top:7vh;left:2vw;width:20vw}.lightbox{padding:2em;position:absolute;top:0;left:50%;transform:translateX(-50%) translateY(-100%);z-index:10;max-width:50%;background-color:#BBB;transition:all 1s}.lightbox.active{top:20%;transform:translateX(-50%) translateY(-50%)}

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83
index.html
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@ -3,7 +3,7 @@
<head>
<meta charset="utf-8">
<script src="https://unpkg.com/konva@4.0.0/konva.min.js"></script>
<script src='https://unpkg.com/vue/dist/vue.js'></script>
<script src='https://unpkg.com/vue/dist/vue.min.js'></script>
<script src='https://cdn.jsdelivr.net/npm/vue-konva@2.0.11/umd/vue-konva.min.js'></script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/gsap/1.20.3/TweenMax.min.js"></script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/Chart.js/2.7.1/Chart.min.js"></script>
@ -15,61 +15,50 @@
<!-- The loading of KaTeX is deferred to speed up page rendering -->
<script src="https://cdn.jsdelivr.net/npm/katex@0.11.1/dist/katex.min.js" integrity="sha384-y23I5Q6l+B6vatafAwxRu/0oK/79VlbSz7Q9aiSZUvyWYIYsd+qj+o24G5ZU2zJz" crossorigin="anonymous"></script>
<title>RL exhibit - prototype</title>
<link rel="stylesheet" href="https://gitcdn.xyz/cdn/jzilg/embellish.css/fff9961c5fec2d1c8ff53c87b12e18d5c8db7761/embellish.min.css">
<link rel="stylesheet" href="css/style.min.css">
</head>
<body>
<div id="app">
<v-stage ref="stage" :config="stage_config">
<!-- <v-layer ref="local_layer" :config="local_layer">
<v-group ref="map_group" :config="map_config">
<v-rect v-for="(t_type, idx) in maze.map.flat()" :config="get_tile_config(idx, t_type, true)" :key="idx"></v-rect>
<v-regular-polygon :config="agent_config"></v-regular-polygon>
</v-group>
</v-layer> -->
<v-layer ref="map_layer">
<v-group ref="mini_map_group" :config="mini_map_config">
<!-- <v-group ref="grid_group">
<v-line v-for="y in maze.height+1" :config="get_grid_line_config(y-1, true)"></v-line>
<v-line v-for="x in maze.width+1" :config="get_grid_line_config(x-1)"></v-line>
</v-group> -->
<v-rect v-for="(t_type, idx) in maze.map.flat()" :config="get_tile_config(idx, t_type)" :key="idx" ></v-rect>
<v-group v-for="(action,idx) in q_table" :config="get_field_config(idx)">
<v-shape v-for="(value, key) in action" :config="get_triangle_config(value, key)"></v-shape>
<v-text v-for="i in 4" :config="get_q_text_config(action,i)"></v-text>
</v-group>
<v-regular-polygon :config="agent_config"></v-regular-polygon>
</v-group>
</v-layer>
</v-stage>
<line-chart css-classes="plot" :chart-data="datacollection" :options="plot_options"></line-chart>
<div class="sliders">
<h1>Learning Rate {{learning_rate}}</h1>
<vue-slider v-model="learning_rate" :drag-on-click="true" v-bind="slider_config"></vue-slider>
<h1>Discount Factor {{discount_factor}}</h1>
<vue-slider v-model="discount_factor" :drag-on-click="true" v-bind="slider_config"></vue-slider>
<h1>Epsilon {{epsilon}}</h1>
<vue-slider v-model="epsilon" :drag-on-click="true" v-bind="slider_config"></vue-slider>
<h1>Current Score</h1>
<h2>{{score}}</h2>
<div id="test" style="position: absolute;bottom: 10vh;width:90vw"></div>
<rl-local class="stage" :machine="machine" :maze="maze" :config="stage_config" v-show="isActive('local')"></rl-local>
<rl-map class="stage" :machine="machine" :maze="maze" :config="stage_config" v-show="isActive('global')"></rl-map>
<line-chart css-classes="plot" :chart-data="datacollection" :options="plot_options" v-show="isActive('plot')"></line-chart>
<div class="sliders" v-show="isActive('sliders')">
<h1>Learning Rate {{machine.learning_rate}}</h1>
<vue-slider v-model="machine.learning_rate" :drag-on-click="true" v-bind="slider_config"></vue-slider>
<h1>Discount Factor {{machine.discount_factor}}</h1>
<vue-slider v-model="machine.discount_factor" :drag-on-click="true" v-bind="slider_config"></vue-slider>
<h1>Epsilon {{machine.epsilon}}</h1>
<vue-slider v-model="machine.epsilon" :drag-on-click="true" v-bind="slider_config"></vue-slider>
<div id="formula"></div>
</div>
<div class="score" v-show="isActive('score')">
<h1>Current Energy</h1>
<h2>{{machine.score}}</h2>
</div>
<navi-gation :options="navigation" v-show="isActive('navi')"></navi-gation>
</div>
<nav>
<button class="button" onclick="machine.run(1)">run 1 episode!</button>
<button class="button" onclick="machine.run(100)">run 100 episodes!</button>
<button class="button" onclick="machine.auto_step();">auto step!</button>
<button class="button" onclick="machine.greedy_step();">greedy step!</button>
<button class="button" onclick="machine.reset_machine()">reset machine</button>
</nav>
<script>
var map = [
[0, 0, 1, 8, 0, 0, 0, 0],
[0, 0, 1, 1, 1, 1, 0, 0],
[1, 0, 0, 0, 0, 1, 0, 1],
[0, 0, 1, 0, 0, 0, 0, 0],
[2, 0, 1, 0, 1, 0, 0, 1]
[0, 0, 1, 8, 0, 0, 0, 0, 0, 0],
[0, 0, 1, 1, 1, 1, 1, 1, 0, 0],
[1, 0, 0, 0, 0, 1, 0, 1, 0, 1],
[0, 0, 0, 1, 0, 0, 0, 1, 0, 1],
[0, 1, 1, 1, 1, 1, 0, 1, 0, 0],
[0, 0, 0, 0, 0, 1, 1, 1, 0, 0],
[1, 0, 1, 0, 0, 0, 0, 1, 1, 0],
[0, 0, 1, 1, 1, 0, 0, 0, 0, 0],
[2, 0, 0, 0, 1, 0, 1, 0, 0, 1]
];
</script>
<script src="js/rl.js"></script>

2
js/controls.js vendored
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@ -27,7 +27,7 @@ function key_callback(e) {
break;
}
var ret = 1;
if (tmp != undefined){
if (tmp != undefined && document.querySelector(".lightbox.active") == null){
ret = machine.step(tmp);
}
// show_q_table();

35
js/rl.js
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@ -4,6 +4,7 @@ class RL_machine {
rewards,
start_state,
end_states,
start_score,
end_score,
learning_rate,
discount_factor,
@ -14,11 +15,16 @@ class RL_machine {
this.lr = learning_rate;
this.df = discount_factor;
this.start_state = start_state;
this.start_score = start_score;
this.end_score = end_score;
this.end_states = end_states;
this.epsilon = epsilon;
this.q_table = this.actions_per_state.map((c) => c.reduce((o,n) => {o[n]=0; return o},{}));
this.reset_machine();
this.callback = null;
}
setCallback(cb){
this.callback = cb;
}
reset_machine(){
for (var q in this.q_table){
@ -27,17 +33,24 @@ class RL_machine {
}
}
this.episode = 0;
this.state = this.start_state;
this.score = 0;
this.running = false;
this.score_history = [];
this.state = this.start_state;
this.score = this.start_score;
}
new_episode(){
// add_new_episode_callback
new_episode(reason = "failed"){
const reset = () => {
this.episode++;
this.state = this.start_state;
this.score_history.push(this.score);
this.score = 0;
this.state = this.start_state;
this.score = this.start_score;
}
// add_new_episode_callback
if (!this.running && this.callback) {
this.callback(reason).then((p) => reset());
} else {
reset();
}
}
auto_step(){
if (Math.random() < this.epsilon){
@ -52,8 +65,12 @@ class RL_machine {
step(action){
this.state = this.update_q_table(this.state, action);
// add_new_step_callback
if (this.end_states.indexOf(this.state) >= 0 || this.score < this.end_score){
this.new_episode();
if (this.end_states.indexOf(this.state) >= 0) {
this.new_episode("success");
return 2
}
if (this.score <= this.end_score){
this.new_episode("failed");
return 2
}
return 1
@ -191,4 +208,4 @@ var maze = new Maze(map, reward);
var learning_rate = 0.75;
var discount_factor = 0.8;
var machine = new RL_machine(maze.actions, maze.transactions, maze.rewards, maze.start_state, maze.end_states, -999, learning_rate, discount_factor, 0.2);
var machine = new RL_machine(maze.actions, maze.transactions, maze.rewards, maze.start_state, maze.end_states, 50, 0, learning_rate, discount_factor, 0.2);

879
js/view.js
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@ -1,31 +1,24 @@
Vue.component('line-chart', {
extends: VueChartJs.Line,
mixins: [VueChartJs.mixins.reactiveProp],
props: ['options'],
// mixins: [VueChartJs.mixins.reactiveData],
// props: ['options','labels', 'datasets'],
// watch: {
// 'labels': function(new_val) {
// this.chartData = {
// 'labels': new_val,
// 'datasets': this.datasets};
// },
// 'datasets': {
// deep:true,
// handler: function(new_val) {
// this.chartData = {
// 'labels': this.labels,
// 'datasets': new_val};
// }
// }
// },
mounted() {
this.renderChart(this.chartData, this.options);
},
// ----------------------------------------------------------------------------
// ------------------------------- Utils --------------------------------------
// ----------------------------------------------------------------------------
})
function defer() {
var res, rej;
var promise = new Promise((resolve, reject) => {
res = resolve;
rej = reject;
});
promise.resolve = res;
promise.reject = rej;
return promise;
}
var palette = ['#00429d', '#06449d', '#0d469d', '#12489d', '#164a9d', '#1a4c9c', '#1d4e9c', '#20509c', '#23529c', '#26549c', '#28569b', '#2b589b', '#2d5a9b', '#305c9b', '#325e9a', '#34609a', '#37629a', '#39649a', '#3b6699', '#3d6899', '#3f6999', '#416b98', '#436d98', '#456f97', '#477197', '#497397', '#4b7596', '#4d7796', '#4f7995', '#517b95', '#537d94', '#557f94', '#578193', '#598392', '#5b8592', '#5d8791', '#5f8991', '#618a90', '#638c8f', '#658e8f', '#67908e', '#69928d', '#6b948d', '#6d968c', '#6f988b', '#719a8b', '#739c8a', '#759e89', '#77a088', '#79a287', '#7ba386', '#7da586', '#80a785', '#82a984', '#84ab83', '#86ad82', '#88af81', '#8ab180', '#8cb37f', '#8fb57e', '#91b77d', '#93b87c', '#95ba7a', '#97bc79', '#9abe78', '#9cc077', '#9ec276', '#a1c474', '#a3c673', '#a5c872', '#a8c970', '#aacb6f', '#accd6e', '#afcf6c', '#b1d16b', '#b4d369', '#b6d568', '#b8d766', '#bbd864', '#bdda63', '#c0dc61', '#c2de5f', '#c5e05d', '#c8e25b', '#cae459', '#cde657', '#cfe755', '#d2e953', '#d5eb50', '#d7ed4e', '#daef4b', '#ddf049', '#dff246', '#e2f443', '#e5f640', '#e8f83c', '#ebfa39', '#edfb35', '#f0fd31', '#f3ff2c']
// ----------------------------------------------------------------------------
// -------------------------------- Plot --------------------------------------
// ----------------------------------------------------------------------------
Array.prototype.simpleSMA = function(N) {
return this.map(
@ -55,184 +48,163 @@ Array.prototype.max = function() {
});
};
app = new Vue({
el: '#app',
components: {
VueSlider: window['vue-slider-component']
},
data: {
width: 0,
height: 0,
q_table: machine.q_table,
maze: maze,
state: {
x: 0,
y: 0
Vue.component('line-chart', {
extends: VueChartJs.Line,
mixins: [VueChartJs.mixins.reactiveProp],
props: ['options'],
mounted() {
this.renderChart(this.chartData, this.options);
},
state_tween: new TimelineLite(),
score: machine.score,
score_history: machine.score_history,
labels: [],
learning_rate: machine.lr,
discount_factor: machine.df,
epsilon: machine.epsilon,
slider_config: {
min: 0,
max: 1,
duration: 0,
interval: 0.01,
tooltip: 'none'
})
// ----------------------------------------------------------------------------
// --------------------------------- Map --------------------------------------
// ----------------------------------------------------------------------------
var MapBase = Vue.component('MapBase', {
props: ['machine', 'maze', 'config'],
data: function () {
return {
robot_image: null,
energy_image: null,
}
},
created() {
// Resize handler
window.addEventListener('resize', this.handleResize)
this.handleResize();
// State wrapper
var s = machine.state;
var $this = this;
this.state = this.s2p(s);
Object.defineProperty(machine, 'state', {
get: function() {
return this._state
const robot_image = new window.Image();
robot_image.src = "img/robot.png";
robot_image.onload = () => {
$this.robot_image = robot_image;
};
const energy_image = new window.Image();
energy_image.src = "img/station.png";
energy_image.onload = () => {
$this.energy_image = energy_image;
};
},
set: function(ne) {
this._state = ne;
$this.handleState(this._state);
computed: {
main_config: function(){
return {
offset: {
x: -(this.config.width-this.base_size*this.maze.width)/2,
y: -(this.config.height-this.base_size*this.maze.height)/2,
}
});
machine.state = s;
// Score wrapper
var s = machine.score;
var $this = this;
this.score = s;
Object.defineProperty(machine, 'score', {
get: function() {
return this._score
},
set: function(ne) {
this._score = ne;
$this.score = ne
}
});
machine.score = s;
// Score history wrapper
var s = machine.score_history;
var $this = this;
this.score_history = s;
Object.defineProperty(machine, 'score_history', {
get: function() {
return this._score_history
},
set: function(ne) {
this._score_history = ne;
$this.score_history = ne
robot_config: function() {
return {
height: this.base_size,
width: this.base_size,
x: this.center,
y: this.center,
image: this.robot_image,
offset:{
x: this.base_size/2,
y: this.base_size/2,
}
}
});
machine.score_history = s;
},
destroyed() {
window.removeEventListener('resize', this.handleResize)
},
computed: {
datacollection: function() {
energy_config: function() {
return {
labels: Array.from(Array(this.score_history.length).keys()),
datasets: [{
label: 'Data One',
backgroundColor: 'rgb(0,0,0,0)',
data: this.score_history,//.simpleSMA(Math.round(50)),
fill: false,
borderColor: 'rgb(255, 159, 64)',
pointRadius: 1,
height: this.base_size,
width: this.base_size,
offset: {
x: this.base_size/2,
y: this.base_size/2
},
// {
// label: 'Data One',
// backgroundColor: 'rgb(0,0,0,0)',
// data: this.score_history.max(),
// fill: false,
// borderColor: 'rgb(64, 159, 255)',
// pointRadius: 1,
// },
]
image: this.energy_image,
}
},
plot_options: function() {
var $this = this;
return {
responsive: true,
maintainAspectRatio: false,
scales: {
xAxes: [{
// type: 'linear',
ticks: {
maxTicksLimit: 8,
maxRotation: 0,
}
}]
strokeW: function() {
return this.base_size / 50;
},
legend: {
display: false
}
base_size: function() {
return Math.min(this.config.height/this.maze.height, this.config.width/this.maze.width);
},
},
methods: {
get_tile_type: function(state) {
var pos = this.machine.s2p(state);
if (pos.y > maze.height) {
return null;
} else if (pos.x > maze.width) {
return null;
} else {
return maze.map[pos.y][pos.x];
}
},
stage_config: function() {
get_field_config: function(state) {
var pos = this.machine.s2p(state);
return {
width: this.width,
height: this.height,
x: this.base_size * pos.x+this.base_size/2,
y: this.base_size * pos.y+this.base_size/2,
}
},
mini_map_config: function() {
get_tile_config: function(t_type) {
const layout = {
width: this.base_size,
height: this.base_size,
stroke: '#ddd',
strokeWidth: this.strokeW,
offset: {
x: this.base_size/2,
y: this.base_size/2,
}
};
switch (t_type) {
case tile.regular:
return {
x: this.width / 2 - (this.base_size * (this.maze.width) / 2),
y: this.height / 2 - (this.base_size * (this.maze.height) / 2),
scale: {
x: 1,
y: 1
...layout,
fill: '#fff',
opacity: 1,
}
case tile.end:
return {
...layout,
fill: '#0eb500',
opacity: 1,
}
},
local_layer: function() {
case tile.start:
return {
x: this.width / 2,
y: this.height / 2,
scale: {
x: 2,
y: 2
...layout,
fill: '#ff0008',
opacity: 1,
}
case tile.dangerous:
return {
...layout,
fill: '#FF7B17',
opacity: 1,
}
},
map_config: function() {
case tile.wall:
return {
x: this.base_size * (this.maze.width - this.state.x),
y: this.base_size * (this.maze.height - this.state.y),
offset: {
x: this.base_size * this.maze.width + this.base_size / 2,
y: this.base_size * this.maze.height + this.base_size / 2,
...layout,
fill: '#000000',
opacity: 1,
}
}
},
agent_config: function() {
return {
sides: 5,
radius: this.base_size / 3,
fill: '#00D2FF',
stroke: 'black',
strokeWidth: this.strokeW,
offset: {
x: -this.base_size / 2,
y: -this.base_size / 2
},
x: this.base_size * this.state.x,
y: this.base_size * this.state.y,
})
//-----------------------------------------------------------------------------
var palette = ['#d2000d', '#d30512', '#d40a17', '#d50f1c', '#d61420', '#d71a25', '#d71f2a', '#d8242f', '#d92934', '#da2e39', '#db333d', '#dc3842', '#dd3d47', '#de424c', '#df4751', '#e04d56', '#e0525a', '#e1575f', '#e25c64', '#e36169', '#e4666e', '#e56b73', '#e67077', '#e7757c', '#e87a81', '#e98086', '#e9858b', '#ea8a90', '#eb8f95', '#ec9499', '#ed999e', '#ee9ea3', '#efa3a8', '#f0a8ad', '#f1adb2', '#f2b3b6', '#f2b8bb', '#f3bdc0', '#f4c2c5', '#f5c7ca', '#f6cccf', '#f7d1d3', '#f8d6d8', '#f9dbdd', '#fae0e2', '#fbe6e7', '#fbebec', '#fcf0f0', '#fdf5f5', '#fefafa', '#ffffff', '#fafcfa', '#f5f9f5', '#f0f6f0', '#ebf3ec', '#e6f1e7', '#e1eee2', '#dcebdd', '#d7e8d8', '#d3e5d3', '#cee2cf', '#c9dfca', '#c4dcc5', '#bfd9c0', '#bad6bb', '#b5d4b6', '#b0d1b2', '#abcead', '#a6cba8', '#a1c8a3', '#9cc59e', '#97c299', '#92bf95', '#8dbc90', '#88b98b', '#84b786', '#7fb481', '#7ab17c', '#75ae77', '#70ab73', '#6ba86e', '#66a569', '#61a264', '#5c9f5f', '#579c5a', '#529a56', '#4d9751', '#48944c', '#439147', '#3e8e42', '#398b3d', '#348839', '#308534', '#2b822f', '#267f2a', '#217d25', '#1c7a20', '#17771c', '#127417', '#0d7112', '#086e0d']
Vue.component('rl-map', {
extends: MapBase,
computed: {
robot_config: function() {
return {
height: this.base_size,
width: this.base_size,
x: this.base_size * this.machine.state.x,
y: this.base_size * this.machine.state.y,
image: this.robot_image,
}
},
base_size: function() {
return Math.min(this.stage_config.height * 0.8 / this.maze.height, this.stage_config.width * 0.5 / this.maze.width);
},
strokeW: function() {
return this.base_size / 50;
},
extreme_q_values: function(){
var max = -10*30;
var min = 10*30;
@ -249,66 +221,6 @@ app = new Vue({
}
},
methods: {
s2p: function(state) {
return {
x: (state % this.maze.width),
y: Math.floor(state / this.maze.width),
}
},
p2s: function(x, y) {
return x + y * this.maze.width;
},
handleResize: function() {
this.width = window.innerWidth;
this.height = window.innerHeight;
},
handleState: function(s) {
if (!machine.running) {
this.state_tween.to(this.state, 0.2, {
x: this.s2p(s).x,
y: this.s2p(s).y
});
} else {
this.state = this.s2p(s);
}
// this.hidden_state = s;
},
get_grid_line_config: function(idx, y = false) {
var offset = this.strokeW / 2;
if (y) {
var points = [-offset, Math.round(idx * this.base_size), this.base_size * this.maze.width + offset, Math.round(idx * this.base_size)];
} else {
var points = [Math.round(idx * this.base_size), -offset, Math.round(idx * this.base_size), this.base_size * this.maze.height + offset];
}
return {
points: points,
stroke: '#ddd',
strokeWidth: this.strokeW,
}
},
get_tile_type: function(state) {
var pos = this.s2p(state);
if (pos.y > maze.height) {
return null;
} else if (pos.x > maze.width) {
return null;
} else {
return maze.map[pos.y][pos.x];
}
},
in_plus: function(pos1, pos2) {
if (Math.abs(pos1.x - pos2.x) + Math.abs(pos1.y - pos2.y) < 2) {
return true;
}
return false;
},
get_field_config: function(state) {
var pos = this.s2p(state);
return {
x: this.base_size * pos.x+this.base_size/2,
y: this.base_size * pos.y+this.base_size/2,
}
},
get_q_text_config: function (val, i) {
var off, key;
switch (i) {
@ -348,13 +260,13 @@ app = new Vue({
fontSize: this.base_size/7,
fontFamily: 'Calibri',
fill: 'black',
text: +val[key].toFixed(2)+'',
width: this.base_size-5,
height: this.base_size-5,
text: +val[key].toPrecision(3)+'',
width: this.base_size-20,
height: this.base_size-34,
...off,
offset: {
x: (this.base_size-5)/2,
y: (this.base_size-5)/2,
x: (this.base_size-20)/2,
y: (this.base_size-34)/2,
}
}
},
@ -375,109 +287,478 @@ app = new Vue({
break;
}
var $this = this;
var norma_value = (value-this.extreme_q_values.min)/((this.extreme_q_values.max-this.extreme_q_values.min)||1);
var norma_value = value>0 ? (value+1000)/(2000) : (value+30)/60;
return {
sceneFunc: function(context, shape) {
context.beginPath();
context.moveTo(0, 0);
context.lineTo($this.base_size / 2, $this.base_size / 2);
context.lineTo($this.base_size / 2, -$this.base_size / 2);
context.lineTo(0, 0);
var width = $this.base_size / 5;
var arrow_w = $this.base_size / 2;
var stumpf = $this.base_size / 6;
var arrow_l = $this.base_size / 5;
context.moveTo($this.base_size/2-stumpf-arrow_l, width/2);
context.lineTo($this.base_size/2-stumpf, width/2);
context.lineTo($this.base_size/2-stumpf, arrow_w/2);
context.lineTo($this.base_size/2-2, 0);
context.lineTo($this.base_size/2-stumpf, -arrow_w/2);
context.lineTo($this.base_size/2-stumpf, -width/2);
context.lineTo($this.base_size/2-stumpf-arrow_l, -width/2);
context.lineTo($this.base_size/2-stumpf-arrow_l, width/2);
context.closePath();
// (!) Konva specific method, it is very important
context.fillStrokeShape(shape);
},
fill: palette[Math.round(norma_value*99)],
fill: palette[Math.round(norma_value*100)],
stroke: 'black',
strokeWidth: 0,
strokeWidth: 1,
rotation: rot,
}
},
get_tile_config: function(i, t_type, local = false) {
var pos = this.s2p(i);
var over = {};
},
template:
`<v-stage ref="stage" :config="config">
<v-layer ref="map_layer" :config="main_config">
<v-group ref="map_group">
<v-group :key="'tile'+idx" v-for="(t_type, idx) in maze.map.flat()" :config="get_field_config(idx)">
<v-rect :config="get_tile_config(t_type)"></v-rect>
<v-image :config="energy_config" v-if="t_type==8"></v-image>
</v-group>
<v-group :key="'qgroup'+idx" v-for="(action, idx) in machine.q_table" :config="get_field_config(idx)">
<v-shape :key="'qvalshape'+idx+key" v-for="(value, key) in action" :config="get_triangle_config(value, key)"></v-shape>
<v-text :key="'qval'+idx+i" v-for="i in 4" :config="get_q_text_config(action,i)"></v-text>
</v-group>
<v-image :config="robot_config"></v-image>
</v-group>
</v-layer>
</v-stage>`
})
// not in plus
if (local) {
if (!this.in_plus(this.s2p(i), {
x: Math.round(this.state.x),
y: Math.round(this.state.y)
})) {
over = {
opacity: 0,
fill: "#eee"
};
} else if (i != this.p2s(Math.round(this.state.x), Math.round(this.state.y))) {
over = {
opacity: 1,
fill: "#eee"
};
// ----------------------------------------------------------------------------
// -------------------------------- Local -------------------------------------
// ----------------------------------------------------------------------------
Vue.component('rl-local', {
extends: MapBase,
computed: {
main_config: function(){
return {
offset: {
x: -(this.config.width-this.base_size*3)/2,
y: -(this.config.height-this.base_size*3)/2,
}
}
const layout = {
x: this.base_size * pos.x,
y: this.base_size * pos.y,
},
local_config: function() {
return {
x: -(this.machine.state.x)*this.base_size,
y: -(this.machine.state.y)*this.base_size,
offset: {
x: -this.base_size,
y: -this.base_size,
}
}
},
base_size: function() {
return Math.min(this.config.height/3, this.config.width/3);
},
center: function() {
return 3*this.base_size / 2;
},
local_area: function() {
const x = Math.round(this.machine.state.x);
const y = Math.round(this.machine.state.y);
let arr = [[x,y-1],[x+1,y],[x,y+1],[x-1,y],[x,y]];
return arr.filter((p) => p[0] < this.maze.width && p[1] < this.maze.height &&
p[0] >= 0 && p[1] >= 0)
.map((p) => [this.maze.map[p[1]][p[0]], p[1]*this.maze.width+p[0]]);
},
},
methods: {
end: function(pos){
return this.maze.get_states(tile.end).indexOf(pos) >= 0;
},
id_to_dir: function(id){
switch (id) {
case 0:
return dir.UP;
case 1:
return dir.RIGHT;
case 2:
return dir.DOWN;
case 3:
return dir.LEFT;
default:
return undefined;
}
},
handleMouseEnter(e) {
const stage = e.target.getStage();
stage.container().style.cursor = "pointer";
},
handleMouseLeave(e) {
const stage = e.target.getStage();
stage.container().style.cursor = "default";
},
get_local_tile_config: function(i, t_type) {
// var pos = this.s2p(i);
// in plus
var over = {};
if (i != this.machine.p2s(Math.round(this.machine.state.x), Math.round(this.machine.state.y)) &&
t_type != tile.wall) {
over = {
width: this.base_size,
height: this.base_size,
stroke: '#ddd',
strokeWidth: this.strokeW,
};
switch (t_type) {
case tile.regular:
return {
...layout,
fill: '#fff',
offset: {
x: this.base_size/2,
y: this.base_size/2,
},
opacity: 1,
...over,
fill: "#eee",
}
case tile.end:
}
return over;
},
},
template:
`<v-stage ref="stage" :config="config">
<v-layer ref="map_layer" :config="main_config">
<v-group ref="map_group" :config="local_config">
<v-group :key="pair[1]" v-for="(pair, idx) in local_area" :config="get_field_config(pair[1])">
<v-rect :config="get_tile_config(pair[0])"></v-rect>
<v-image :config="energy_config" v-if="end(pair[1])"></v-image>
<v-rect :config="get_local_tile_config(pair[1], pair[0])" @click="id_to_dir(idx) && machine.object.step(id_to_dir(idx))" @mouseenter="handleMouseEnter" @mouseleave="handleMouseLeave"></v-rect>
</v-group>
</v-group>
<v-image :config="robot_config"></v-image>
</v-layer>
</v-stage>`
})
Vue.component('navi-gation', {
props: ["options"],
template: `
<nav class="navi">
<button v-for="(item, key) in options" v-on:click="item">{{ key }}</button>
</nav>`
});
// ----------------------------------------------------------------------------
// ------------------------------ lightbox ------------------------------------
// ----------------------------------------------------------------------------
var light_box = {
data: {
content: "",
options: [],
active: false,
},
methods:{
close: function(){
this.active = false;
},
popup: function(content, options){
this.content = content;
var answer = defer();
var $this = this;
this.options = options.reduce((old, opt) => {
old[opt] = function(){
$this.active = false;
answer.resolve(opt);
}
return old
}, {});
this.active = true;
return answer;
}
},
template: `
<div class="lightbox" v-bind:class="{ active: active }">{{ content }}
<div class="options">
<button :key="key" v-for="(item, key) in options" v-on:click="item">{{ key }}</button>
</div>
</div>`
}
const PopupLibrary = {
install(Vue, options = {}) {
const root = new Vue(light_box)
// Mount root Vue instance on new div element added to body
root.$mount(document.body.appendChild(document.createElement('div')))
Vue.prototype.$lightbox = root;
}
}
window.Vue.use(PopupLibrary)
// ----------------------------------------------------------------------------
// -------------------------------- Main --------------------------------------
// ----------------------------------------------------------------------------
function makeMachineReactive(th, machine){
var $this = th;
$this.machine.s2p = function(state) {
return {
...layout,
fill: '#0eb500',
opacity: 1,
...over,
x: (state % $this.maze.width),
y: Math.floor(state / $this.maze.width),
}
case tile.start:
};
$this.machine.p2s = function(x, y) {
return x + y * $this.maze.width;
};
// Score wrapper
var s = machine.score;
$this.machine.score = s;
Object.defineProperty(machine, 'score', {
get: function() {
return this._score
},
set: function(ne) {
this._score = ne;
$this.machine.score = ne
}
});
machine.score = s;
// Score history wrapper
var s = machine.score_history;
$this.machine.score_history = s;
Object.defineProperty(machine, 'score_history', {
get: function() {
return this._score_history
},
set: function(ne) {
this._score_history = ne;
$this.machine.score_history = ne
}
});
machine.score_history = s;
// State wrapper
var s = machine.state;
$this.machine.state = $this.machine.s2p(s);
Object.defineProperty(machine, 'state', {
get: function() {
return this._state
},
set: function(ne) {
this._state = ne;
$this.handleState(this._state);
}
});
machine.state = s;
$this.machine.object.setCallback($this.onNewEpisode);
}
app = new Vue({
el: '#app',
components: {
VueSlider: window['vue-slider-component'],
},
data: {
state: null,
maze: maze,
machine: {
object: machine,
q_table: machine.q_table,
state: {
x:0,
y:0,
},
state_tween: new TimelineLite(),
learning_rate: machine.lr,
discount_factor: machine.df,
epsilon: machine.epsilon,
score: machine.score,
score_history: machine.score_history,
s2p: null,
p2s: null,
},
width: 0,
height: 0,
components: [],
navigation: {},
},
created() {
// Resize handler
window.addEventListener('resize', this.handleResize)
this.handleResize();
makeMachineReactive(this, machine);
this.state = "init";
},
destroyed() {
window.removeEventListener('resize', this.handleResize)
},
computed: {
stage_config: function() {
return {
...layout,
fill: '#ff0008',
opacity: 1,
...over,
x: 0,
y: 0,
width: this.width*0.5,
height: this.height*0.8,
}
case tile.dangerous:
},
slider_config: function(){
return {
...layout,
fill: '#FF7B17',
opacity: 1,
...over,
min: 0,
max: 1,
duration: 0,
interval: 0.01,
tooltip: 'none'
}
case tile.wall:
},
datacollection: function() {
return {
...layout,
fill: '#000000',
opacity: 1,
...over,
labels: Array.from(Array(this.machine.score_history.length).keys()),
datasets: [{
label: 'Data One',
backgroundColor: 'rgb(0,0,0,0)',
data: this.machine.score_history,//.simpleSMA(Math.round(50)),
fill: false,
borderColor: 'rgb(255, 159, 64)',
pointRadius: 1,
},
// {
// label: 'Data One',
// backgroundColor: 'rgb(0,0,0,0)',
// data: this.score_history.max(),
// fill: false,
// borderColor: 'rgb(64, 159, 255)',
// pointRadius: 1,
// },
]
}
},
plot_options: function() {
var $this = this;
return {
responsive: true,
maintainAspectRatio: false,
scales: {
xAxes: [{
// type: 'linear',
ticks: {
maxTicksLimit: 8,
maxRotation: 0,
}
}]
},
legend: {
display: false
}
}
},
},
methods: {
onEnterState: function(){},
onLeaveState: function(){},
handleState: function(s) {
if (!this.machine.object.running) {
this.machine.state_tween.to(this.machine.state, 0.2, {
x: this.machine.s2p(s).x,
y: this.machine.s2p(s).y
});
} else {
this.machine.state = this.machine.s2p(s);
}
},
handleResize: function() {
this.width = window.innerWidth;
this.height = window.innerHeight;
},
isActive: function(what){
return this.components.indexOf(what) >= 0;
},
changeState: function(state){
this.components = [];
this.navigation = {};
this.onEnterState = function(){};
this.onLeaveState = function(){};
this.state = state;
},
onNewEpisode: function(result){
var text;
if (result == "failed"){
text = "Out of battery. The robot will be resetted.";
} else if (result == "success"){
text = "You reached the goal. The robot will be resetted.";
}
return this.$lightbox.popup(text, ["ok"]);
}
},
watch: {
learning_rate: function(new_val) {
'machine.learning_rate': function(new_val) {
machine.lr = new_val;
render_latex();
renderLatex();
},
discount_factor: function(new_val) {
'machine.discount_factor': function(new_val) {
machine.df = new_val;
render_latex();
renderLatex();
},
epsilon: function(new_val) {
'machine.epsilon': function(new_val) {
machine.epsilon = new_val;
}
},
state: function(state){
this.onLeaveState();
Object.assign(this, StateMgr[state]);
this.onEnterState();
},
}
})
function render_latex() {
function renderLatex() {
// (1-lr) * Q[state, action] + lr * (reward + gamma * np.max(Q[new_state, :])
katex.render(`Q(s,a)\\leftarrow${(1-machine.lr).toFixed(2)}Q(s,a)+${machine.lr.toFixed(2)}(reward + ${machine.df.toFixed(2)} * \\max_a(Q(s', a))`, document.getElementById('test'),{displayMode: true,});
katex.render(`Q(s,a)\\leftarrow${(1-machine.lr).toFixed(2)}Q(s,a)+${machine.lr.toFixed(2)}(reward + ${machine.df.toFixed(2)}\\max_{a'}(Q(s_{new}, a'))`, document.getElementById('formula'),{displayMode: true,});
}
renderLatex();
// ----------------------------------------------------------------------------
// ------------------------------ StateMgr ------------------------------------
// ----------------------------------------------------------------------------
var StateMgr = {
init: {
onEnterState: function () {
var lightText = `Reinforcement learning (RL) is an area of machine learning concerned with how software agents ought to take actions in an environment so as to maximize some notion of cumulative reward. Reinforcement learning is one of three basic machine learning paradigms, alongside supervised learning and unsupervised learning. (wikipedia)
This exhibit explains how a robot can learn to navigate through a maze in order to reach its destination, before running out of power. At first the robot knows nothing, and learns from each new action (movement) and state (location reached). Slowly it starts to develop an understanding of the maze that will allow it to reach the charging station before it runs out of power. Eventually, it should learn to avoid any detour and reach the charging station in the optimal number of steps.`
this.$lightbox.popup(lightText, ["next"]).then((r) => this.changeState("local"));
},
},
local: {
components: ["local", "navi", "score"],
navigation: {
"reset robot": () => machine.reset_machine(),
"continue": null,
},
onEnterState: function () {
this.navigation.continue = () => this.changeState("global");
var lightText = "But there is a problem! The robot cannot see the whole maze, it only knows where it is and in which direction it can move. Can you reach the charging station in those conditions? Use the arrows to move";
this.$lightbox.popup(lightText, ["next"]);
},
},
global: {
components: ["global", "sliders", "plot", "navi", "score"],
navigation: {
"run 1 episode!": () => machine.run(1),
"run 100 episodes!": () => machine.run(100),
"auto step!": () => machine.auto_step(),
"greedy step!": () => machine.greedy_step(),
"reset machine": () => machine.reset_machine(),
},
onEnterState: function () {
var lightText = `As a human, you keep track of where you are and how you got there without thinking, which helps you think about what actions you should take next to reach your destination. And you can also just look around! How can then the robot 'think' of the maze, to know which action is the best at every moment? And how can it learn that? It must somehow keep track of where it is, and remember how good or bad was each action at each place in the maze, try new things, and update it's "mental image" of what was a good decision and what not.
Reinforcement Learning uses the concept of a "Q-function", which keeps track of how "good" it expects it to be to take a specific action 'a' from a specific location 's'. This is written as Q(s, a). It also uses a "policy", which determines the best action to take in a given state, and is written as π(s). The robot must learn those functions while it navigates the maze. With each step, the functions are modified by a little bit, until eventually they give it the best strategy to solve the maze.`;
this.$lightbox.popup(lightText, ["continue"]);
},
}
render_latex();
};

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