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y_nnn learn_to_drive: try to minimise no change action! search optimal params

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fanasina
2025-11-25 15:06:48 +01:00
parent 35c6868d29
commit 3daabbe634
5 changed files with 148 additions and 36 deletions
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deepQlearn_0/src/deepQlearning/learn_to_drive.c
+32 -4
View File
@@ -79,7 +79,9 @@ struct networks_qlearning * create_nework_qlearning(
qnets->thread_learn = NULL;
for(int i=0;i<COUNT_ACTION;++i){
qnets->nb_successive_action[i]=0;
}
return qnets;
@@ -162,7 +164,7 @@ struct qlearning_params * create_qlearning_params (
qparams->factor_update_learning_rate = 0.995;
qparams->minimum_threshold_learning_rate = 0.0001 ;
qparams->factor_update_exploration_factor = 0.995;
qparams->factor_update_exploration_factor = 0.9995 /*0.995*/;
qparams->minimum_threshold_exploration_factor = 0.01;
// qparams->threshold_number_same_action = 500;
@@ -244,6 +246,8 @@ void free_RL_agent(struct RL_agent *rlAgent){
free(rlAgent);
}
#define ACCEPTABLE_REWARD 1000
void train_qlearning(struct RL_agent * rlAgent,
int action //, long reward
){
@@ -276,17 +280,18 @@ void train_qlearning(struct RL_agent * rlAgent,
}
// ***
if(car_status->cumulative_reward > ACCEPTABLE_REWARD){
float new_value = ( (net_main->learning_rate < qlParams->minimum_threshold_learning_rate /*0.0001*/) ? net_main->learning_rate :(net_main->learning_rate ) * qlParams->factor_update_learning_rate /*0.995*/ );
UPDATE_ATTRIBUTE_NEURONE_IN_ALL_LAYERS(TYPE_FLOAT, net_main, learning_rate, new_value);
qlParams->exploration_factor = (qlParams->exploration_factor < qlParams->minimum_threshold_exploration_factor) ? qlParams->exploration_factor : qlParams->exploration_factor * qlParams->factor_update_exploration_factor ;
}
// free_tensor_TYPE_FLOAT(action_value);
// free_tensor_TYPE_FLOAT(next_action_value);
free_tensor_TYPE_FLOAT(experimental_values);
}
#define MAX_SUCCESSIVE_ACTION 200
int select_action(struct RL_agent * rlAgent){
//static size_t explore = 0;
int action;
@@ -305,6 +310,17 @@ int select_action(struct RL_agent * rlAgent){
float proba_explor = (float) (xrand() % ((1<<17) -1))/ ((1<<17) -1); //frand(); //(float)(random ) / randRange;
if(proba_explor > rlAgent->qlearnParams->exploration_factor ){
action = ARG_MAX_ARRAY_TYPE_FLOAT( action_value->x, action_value->dim->rank );
//printf(" STRATEGY : action : %d , factor : %f nb_episodes : %ld \n",action,rlAgent->qlearnParams->exploration_factor, rlAgent->status->nb_episodes);
if(rlAgent->networks->nb_successive_action[action]>MAX_SUCCESSIVE_ACTION){
rlAgent->networks->nb_successive_action[action]=0;
int recAction=action;
while(action==recAction){
action = xrand() % action_value->dim->rank ;
//printf("debug: action=%d recAction=%d\n",action, recAction);
}
write(1,"#",1);
}
////else write(1,".",1);
//if(action == ARG_MIN_ARRAY_TYPE_FLOAT( action_value->x, action_value->dim->rank ))
//action = xrand() % action_value->dim->rank ;
}
@@ -312,7 +328,15 @@ int select_action(struct RL_agent * rlAgent){
action = xrand() % action_value->dim->rank ;
// explore++;
//printf(" EXPLORE :%ld, action : %d , factor : %f nb_episodes : %ld \n",explore,action,rlAgent->qlearnParams->exploration_factor, rlAgent->status->nb_episodes);
//printf(" EXPLORE : action : %d , factor : %f nb_episodes : %ld \n",action,rlAgent->qlearnParams->exploration_factor, rlAgent->status->nb_episodes);
////write(1,"*",1);
}
for(int a=0;a<COUNT_ACTION;++a){
if(a!=action)
rlAgent->networks->nb_successive_action[a]=0;
}
(rlAgent->networks->nb_successive_action[action])++;
/*
if(rlAgent->status->last_action == action){
++(rlAgent->status->count_last_action);
@@ -445,6 +469,9 @@ void* learn_to_drive(void * lrnarg){
//push_back_list_TYPE_L_INT(qlStatus->list_main_cumul, car_status->cumulative_reward);
// printf(" cumul : %ld ", car_status->cumulative_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);
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);
@@ -455,6 +482,7 @@ void* learn_to_drive(void * lrnarg){
//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);
EXPORT_TO_FILE_TENSOR_ATTRIBUTE_IN_NNEURONS(TYPE_FLOAT, rlAgent->networks->target_net ,weight_in, file);
deepQlearn_0/src/deepQlearning/learn_to_drive.h
+1
View File
@@ -87,6 +87,7 @@ struct networks_qlearning {
neurons_TYPE_FLOAT *target_net;
neurons_TYPE_FLOAT *best_net;
pthread_t *thread_learn;
ssize_t nb_successive_action[COUNT_ACTION];
};
struct RL_agent {
deepQlearn_0/src/deepQlearning/vehicle.c
+8 -7
View File
@@ -581,7 +581,7 @@ void step_vehicle(struct vehicle *v, int action){
}
}
#define RANDOM 1
#define RANDOM 0
void reset(struct vehicle *v){
//static bool init = true;
@@ -597,28 +597,29 @@ void reset(struct vehicle *v){
//srand(time(NULL));
//init = false;
//}
int random;
int diff;
diff = path->upper_bound_block[0]->x[0] - path->lower_bound_block[0]->x[0];
random = xrand() % (diff/2) ;
#if RANDOM
int random;
random = xrand() % (diff/2) ;
v->coord->x[0] = path->lower_bound_block[0]->x[0] + random;
#else
v->coord->x[0] = path->lower_bound_block[0]->x[0] + diff/2;
#endif
diff = path->upper_bound_block[0]->x[1] - path->lower_bound_block[0]->x[1];
random = xrand() % (diff/2);
#if RANDOM
random = xrand() % (diff/2);
v->coord->x[1] = path->lower_bound_block[0]->x[1] + random;
#else
v->coord->x[1] = path->lower_bound_block[0]->x[1] + diff/2;
#endif
random = xrand() % 50;
#if RANDOM
random = xrand() % 50;
v->direction = 80 - random ;
//v->direction = 115 - random ;
v->direction = random - 25 ;
// v->direction = random - 25 ;
#else
v->direction = -90;
v->direction = 70; //-90;
#endif
v->speed = SPEED;
read_sensor(v);
y_network_neural_network_/src/y_net_neur_net/y_nnn_manager.c
+1 -1
View File
@@ -137,7 +137,7 @@ void* runBashPrint(void *arg){
////printf("%s ",pprint->string_space);
len_buf=sprintf(buf,"%s ",pprint->string_space);
BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
#if 0
#if 1
////printf("ep: %ld ",qlStatus->index_episode);
len_buf=sprintf(buf,"ep: %ld\n",qlStatus->index_episode);
BASH_WRITE_IF_EXIST(bash_arg, buf, len_buf)
y_network_neural_network_/test/is_good.c
+101 -19
View File
@@ -279,7 +279,7 @@ float df(float x){
// **************************************************************
#if 1
TEST(_first_learn_vehicle_50__9){
HIDE_TEST(_first_learn_vehicle_50__9){
size_t nb_block = 7;
size_t dim= 2;
struct blocks * path = create_blocks(nb_block, dim);
@@ -335,7 +335,7 @@ TEST(_first_learn_vehicle_50__9){
int randomRange = 500;
size_t nb_prod_thread = 2;
size_t nb_calc_thread = 4;
float learning_rate = 0.00001 /* 0.001*/;
float learning_rate = 0.001 /*0.01*/ /* 0.001*/;
struct networks_qlearning *nnetworks = create_nework_qlearning(
pconf,
randomize, minR, maxR, randomRange,
@@ -360,7 +360,7 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
0.95/*float gamma*/,
learning_rate,
0 /* (not used!)float discount_factor*/,
0.01/*0.99*/ /*float exploration_factor*/,
0.78/*0.01*//*0.99*/ /*float exploration_factor*/,
20/*long int nb_training_before_update_weight_in_target*/,
10000/*size_t number_episodes*/
);
@@ -421,7 +421,7 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
// ****************************************************************
#if 1
HIDE_TEST(first_learn_vehicle_50__10){
HIDE_TEST(_first_learn_vehicle_50__10){
size_t nb_block = 7;
size_t dim= 2;
struct blocks * path = create_blocks(nb_block, dim);
@@ -578,9 +578,35 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
);
learn_to_drive(rlAgent);
//learn_to_drive(rlAgent);
//learn_to_drive(rlAgent);
free_RL_agent(rlAgent);
struct arg_bash *bash_arg= create_arg_bash();
struct arg_run_qlearn_bprint *argQL_BP = create_arg_run_qlearn_bprint(bash_arg, rlAgent);
struct arg_var_ * var = create_arg_var_(y_nnn_manager_handle_input, argQL_BP);
struct y_socket_t *argS = y_socket_create("1600", 2, 3, var);
pthread_t pollTh;
pthread_create(&pollTh, NULL, y_socket_poll_fds, (void*)argS);
pthread_join(pollTh, NULL);
//pthread_join(thread_learn, NULL);
y_socket_free(argS);
free_arg_var_(var);
free_arg_run_qlearn_bprint(argQL_BP);
//free_arg_bash(bash_arg);
//free_RL_agent(rlAgent);
@@ -588,7 +614,7 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
}
#endif
HIDE_TEST(_first_learn_vehicle_50__11_9){
TEST(_first_learn_vehicle_50__11_9){
size_t nb_block = 7;
size_t dim= 2;
struct blocks * path = create_blocks(nb_block, dim);
@@ -664,7 +690,7 @@ HIDE_TEST(_first_learn_vehicle_50__11_9){
int randomRange = 500;
size_t nb_prod_thread = 2;
size_t nb_calc_thread = 4;
float learning_rate = 0.00001 /* 0.001*/;
float learning_rate = 0.001; /* 0.00001*/ /* 0.001*/;
struct networks_qlearning *nnetworks = create_nework_qlearning(
pconf,
randomize, minR, maxR, randomRange,
@@ -676,8 +702,8 @@ EXTRACT_FILE_TO_TENSOR_ATTRIBUTE_NNEURONS(TYPE_FLOAT, nnetworks->main_net, weigh
EXTRACT_FILE_TO_TENSOR_ATTRIBUTE_NNEURONS(TYPE_FLOAT, nnetworks->target_net, weight_in, ".ff_target_20240717_01h42m16s_5300.txt");
*/
EXTRACT_FILE_TO_TENSOR_ATTRIBUTE_NNEURONS(TYPE_FLOAT, nnetworks->main_net, weight_in, ".ff_main_.symlink");
EXTRACT_FILE_TO_TENSOR_ATTRIBUTE_NNEURONS(TYPE_FLOAT, nnetworks->target_net, weight_in, ".ff_target_.symlink");
//EXTRACT_FILE_TO_TENSOR_ATTRIBUTE_NNEURONS(TYPE_FLOAT, nnetworks->main_net, weight_in, ".ff_main_.symlink");
//EXTRACT_FILE_TO_TENSOR_ATTRIBUTE_NNEURONS(TYPE_FLOAT, nnetworks->target_net, weight_in, ".ff_target_.symlink");
struct status_qlearning *qlstatus = create_status_qlearning ();
struct delay_params *dly = create_delay_params (
@@ -689,7 +715,7 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
0.95/*float gamma*/,
learning_rate,
0 /* (not used!)float discount_factor*/,
0.01/*0.99*/ /*float exploration_factor*/,
0.99 /*0.99*/ /*float exploration_factor*/,
20/*long int nb_training_before_update_weight_in_target*/,
10000/*size_t number_episodes*/
);
@@ -1149,7 +1175,7 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
#if 1
HIDE_TEST(first_learn_vehicle13){
HIDE_TEST(__first_learn_vehicle13){
size_t nb_block = 7;
size_t dim= 2;
struct blocks * path = create_blocks(nb_block, dim);
@@ -1216,8 +1242,8 @@ HIDE_TEST(first_learn_vehicle13){
struct status_qlearning *qlstatus = create_status_qlearning ();
struct delay_params *dly = create_delay_params (
100/*size_t delay_between_episodes*/,
10/*size_t delay_between_games*/
500/*size_t delay_between_episodes*/,
50/*size_t delay_between_games*/
);
struct qlearning_params *qlparams = create_qlearning_params (
@@ -1246,9 +1272,37 @@ HIDE_TEST(first_learn_vehicle13){
qlparams/*struct qlearning_params *qlearnParams*/
);
learn_to_drive(rlAgent);
//learn_to_drive(rlAgent);
free_RL_agent(rlAgent);
//learn_to_drive(rlAgent);
struct arg_bash *bash_arg= create_arg_bash();
struct arg_run_qlearn_bprint *argQL_BP = create_arg_run_qlearn_bprint(bash_arg, rlAgent);
struct arg_var_ * var = create_arg_var_(y_nnn_manager_handle_input, argQL_BP);
struct y_socket_t *argS = y_socket_create("1600", 2, 3, var);
pthread_t pollTh;
pthread_create(&pollTh, NULL, y_socket_poll_fds, (void*)argS);
pthread_join(pollTh, NULL);
//pthread_join(thread_learn, NULL);
y_socket_free(argS);
free_arg_var_(var);
free_arg_run_qlearn_bprint(argQL_BP);
//free_RL_agent(rlAgent);
//free_RL_agent(rlAgent);
@@ -2701,7 +2755,7 @@ struct status_qlearning *qlstatus = create_status_qlearning ();
#if 1
HIDE_TEST(first_learn_vehicle13){
HIDE_TEST(_first_learn_vehicle13){
size_t nb_block = 7;
size_t dim= 2;
struct blocks * path = create_blocks(nb_block, dim);
@@ -2798,9 +2852,37 @@ HIDE_TEST(first_learn_vehicle13){
qlparams/*struct qlearning_params *qlearnParams*/
);
learn_to_drive(rlAgent);
//learn_to_drive(rlAgent);
free_RL_agent(rlAgent);
//learn_to_drive(rlAgent);
struct arg_bash *bash_arg= create_arg_bash();
struct arg_run_qlearn_bprint *argQL_BP = create_arg_run_qlearn_bprint(bash_arg, rlAgent);
struct arg_var_ * var = create_arg_var_(y_nnn_manager_handle_input, argQL_BP);
struct y_socket_t *argS = y_socket_create("1600", 2, 3, var);
pthread_t pollTh;
pthread_create(&pollTh, NULL, y_socket_poll_fds, (void*)argS);
pthread_join(pollTh, NULL);
//pthread_join(thread_learn, NULL);
y_socket_free(argS);
free_arg_var_(var);
free_arg_run_qlearn_bprint(argQL_BP);
//free_RL_agent(rlAgent);
//free_RL_agent(rlAgent);