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qlearn: add func caller name to store result more verbose, and add record result if ending before done

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This commit is contained in:
fanasina
2025-12-15 11:15:51 +01:00
parent 3d54639d4c
commit 0e80467c19
3 changed files with 124 additions and 15 deletions
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deepQlearn_0/src/deepQlearning/learn_to_drive.c
+105 -10
View File
@@ -7,9 +7,11 @@ char *action_name[8] = {"LEFT", "CENTER", "RIGHT"};
#define USE_THRESHOLD 0
float reLU(float x){
#if CHECK_NAN
if(x!=x){// nan
printf("nan relu ");
}
#endif
#if USE_THRESHOLD
if(x>UPPER_THRESHOLD) return UPPER_THRESHOLD;
#endif
@@ -191,6 +193,7 @@ struct qlearning_params * create_qlearning_params (
qparams->minimum_threshold_exploration_factor = 0.0001;
// qparams->threshold_number_same_action = 500;
qparams->caller_func_name=NULL;
return qparams;
}
@@ -257,6 +260,7 @@ void free_print_params (struct print_params *pprint){
}
void free_qlearning_params(struct qlearning_params *q_params){
if(q_params->caller_func_name) free(q_params->caller_func_name);
free(q_params);
}
void free_RL_agent(struct RL_agent *rlAgent){
@@ -464,8 +468,8 @@ char *fileNameDateScore(char * pre, char* post,size_t score){
return filename;
}
const char* target_symlink = ".ff_target_.symlink";
const char* main_symlink = ".ff_main_.symlink";
//const char* target_symlink = ".ff_target_.symlink";
//const char* main_symlink = ".ff_main_.symlink";
const char* dest_folder=".ff_learnDir";
void* learn_to_drive(void * lrnarg){
@@ -521,27 +525,58 @@ void* learn_to_drive(void * lrnarg){
int len_cumul=0;
char cumulSTR[128];
len_cumul=sprintf(cumulSTR, " %ld ", car_status->cumulative_reward);
char *mainfuncCaller=malloc(128);
char *targetfuncCaller=malloc(128);
char *mainSymlinkCaller=malloc(256);
char *targetSymlinkCaller=malloc(256);
if(qlParams->caller_func_name){
sprintf(mainfuncCaller,".ff_learnDir/.ff_main_%s",qlParams->caller_func_name);
sprintf(targetfuncCaller,".ff_learnDir/.ff_target_%s",qlParams->caller_func_name);
sprintf(mainSymlinkCaller,".ff_main_%s.symlink",qlParams->caller_func_name);
sprintf(targetSymlinkCaller,".ff_target_%s.symlink",qlParams->caller_func_name);
}else{
strcpy(mainfuncCaller,".ff_learnDir/.ff_main_");
strcpy(targetfuncCaller,".ff_learnDir/.ff_target_");
strcpy(mainSymlinkCaller,".ff_main_.symlink");
strcpy(targetSymlinkCaller,".ff_target_.symlink");
}
push_back_list_TYPE_L_INT(qlStatus->progress_best_cumul, car_status->cumulative_reward);
char *file = fileNameDateScore(".ff_learnDir/.ff_main_",".txt",car_status->cumulative_reward);
//char *file = fileNameDateScore(".ff_learnDir/.ff_main_",".txt",car_status->cumulative_reward);
char *file = fileNameDateScore(mainfuncCaller,"",car_status->cumulative_reward);
EXPORT_TO_FILE_TENSOR_ATTRIBUTE_IN_NNEURONS(TYPE_FLOAT, rlAgent->networks->main_net ,weight_in, file);
unlink(main_symlink);
if(symlink(file, main_symlink)==-1){
fprintf(stderr,"debug: symlink %s with %s.\n",main_symlink, file);
//unlink(main_symlink);
unlink(mainSymlinkCaller);
//if(symlink(file, main_symlink)==-1)
if(symlink(file, mainSymlinkCaller)==-1)
{
//fprintf(stderr,"debug: symlink %s with %s.\n",main_symlink, file);
fprintf(stderr,"debug: symlink %s with %s.\n",mainSymlinkCaller, file);
//fprintf(stderr,"debug: symlink %s with %s. explain:%s \n",main_symlink, file, explain_symlink(file, main_symlink) );
}
else write(1,":",1);
write(1,cumulSTR,len_cumul);
free(file);
file = fileNameDateScore(".ff_learnDir/.ff_target_",".txt",car_status->cumulative_reward);
//file = fileNameDateScore(".ff_learnDir/.ff_target_",".txt",car_status->cumulative_reward);
file = fileNameDateScore(targetfuncCaller,"",car_status->cumulative_reward);
EXPORT_TO_FILE_TENSOR_ATTRIBUTE_IN_NNEURONS(TYPE_FLOAT, rlAgent->networks->target_net ,weight_in, file);
unlink(target_symlink);
if(symlink(file, target_symlink)==-1){
fprintf(stderr,"debug: symlink %s with %s\n",target_symlink,file );
//unlink(target_symlink);
//if(symlink(file, target_symlink)==-1)
unlink(targetSymlinkCaller);
if(symlink(file, targetSymlinkCaller)==-1)
{
//fprintf(stderr,"debug: symlink %s with %s\n",target_symlink,file );
fprintf(stderr,"debug: symlink %s with %s\n",targetSymlinkCaller,file );
//fprintf(stderr,"debug: symlink %s with %s explain:%s\n",target_symlink,file,explain_symlink(file, target_symlink) );
}
else write(1,"-",1);
free(file);
free(mainfuncCaller);
free(targetfuncCaller);
free(mainSymlinkCaller);
free(targetSymlinkCaller);
}
break;
}
@@ -551,6 +586,66 @@ void* learn_to_drive(void * lrnarg){
// Sleep(pprint->delay->delay_between_episodes);
//}
}
// UPDATE IF ENDING AND BETTER REWARD
if(car_status->cumulative_reward > qlStatus->progress_best_cumul->end_list->value)
{
int len_cumul=0;
char cumulSTR[128];
len_cumul=sprintf(cumulSTR, " %ld ", car_status->cumulative_reward);
char *funcCaller_extension=malloc(128);
char *mainSymlinkCaller=malloc(256);
char *targetSymlinkCaller=malloc(256);
if(qlParams->caller_func_name){
sprintf(funcCaller_extension,"%s.txt",qlParams->caller_func_name);
sprintf(mainSymlinkCaller,".ff_main_%s.symlink",qlParams->caller_func_name);
sprintf(targetSymlinkCaller,".ff_target_%s.symlink",qlParams->caller_func_name);
}else{
sprintf(funcCaller_extension,".%s","txt");
strcpy(mainSymlinkCaller,".ff_main_.symlink");
strcpy(targetSymlinkCaller,".ff_target_.symlink");
}
push_back_list_TYPE_L_INT(qlStatus->progress_best_cumul, car_status->cumulative_reward);
//char *file = fileNameDateScore(".ff_learnDir/.ff_main_",".txt",car_status->cumulative_reward);
char *file = fileNameDateScore(".ff_learnDir/.ff_main_",funcCaller_extension,car_status->cumulative_reward);
EXPORT_TO_FILE_TENSOR_ATTRIBUTE_IN_NNEURONS(TYPE_FLOAT, rlAgent->networks->main_net ,weight_in, file);
//unlink(main_symlink);
unlink(mainSymlinkCaller);
//if(symlink(file, main_symlink)==-1)
if(symlink(file, mainSymlinkCaller)==-1)
{
//fprintf(stderr,"debug: symlink %s with %s.\n",main_symlink, file);
fprintf(stderr,"debug: symlink %s with %s.\n",mainSymlinkCaller, file);
//fprintf(stderr,"debug: symlink %s with %s. explain:%s \n",main_symlink, file, explain_symlink(file, main_symlink) );
}
else write(1,":",1);
write(1,cumulSTR,len_cumul);
free(file);
//file = fileNameDateScore(".ff_learnDir/.ff_target_",".txt",car_status->cumulative_reward);
file = fileNameDateScore(".ff_learnDir/.ff_target_",funcCaller_extension,car_status->cumulative_reward);
EXPORT_TO_FILE_TENSOR_ATTRIBUTE_IN_NNEURONS(TYPE_FLOAT, rlAgent->networks->target_net ,weight_in, file);
//unlink(target_symlink);
//if(symlink(file, target_symlink)==-1)
unlink(targetSymlinkCaller);
if(symlink(file, targetSymlinkCaller)==-1)
{
//fprintf(stderr,"debug: symlink %s with %s\n",target_symlink,file );
fprintf(stderr,"debug: symlink %s with %s\n",targetSymlinkCaller,file );
//fprintf(stderr,"debug: symlink %s with %s explain:%s\n",target_symlink,file,explain_symlink(file, target_symlink) );
}
else write(1,"-",1);
free(file);
free(funcCaller_extension);
free(mainSymlinkCaller);
free(targetSymlinkCaller);
}
// END UPDATE
pthread_mutex_lock(qlStatus->mut_ending);
qlStatus->ending = 1;
pthread_mutex_unlock(qlStatus->mut_ending);
deepQlearn_0/src/deepQlearning/learn_to_drive.h
+5
View File
@@ -22,6 +22,10 @@
#include "vehicle.h"
#ifndef CHECK_NAN
#define CHECK_NAN 0
#endif
//float reLU(float x);
//float d_reLU(float x);
@@ -48,6 +52,7 @@ struct qlearning_params {
long int nb_training_before_update_weight_in_target;
size_t number_episodes;
// size_t threshold_number_same_action;
char *caller_func_name;
};