com.github.cschen1205.navigator.minefield.agents.RFalconNavAgent Maven / Gradle / Ivy

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package com.github.cschen1205.navigator.minefield.agents;

import com.github.cschen1205.falcon.FalconConfig;
import com.github.cschen1205.falcon.RFalcon;
import com.github.cschen1205.navigator.minefield.env.MineField;

import java.util.Set;

/**
 * Created by cschen1205 on 10/1/2015 0001.
 */
public class RFalconNavAgent extends FalconNavAgent {
    RFalcon ai;
    public RFalconNavAgent(FalconConfig config, int id, int numSonarInput, int numAVSonarInput, int numBearingInput, int numRangeInput) {
        super(id, numSonarInput, numAVSonarInput, numBearingInput, numRangeInput);
        ai = new RFalcon(config);
    }

    @Override
    public void learn(final MineField mazed){
        double r = getReward();

        if (r > getPrevReward()) {

            double[] rewards2 = new double[ai.numReward()];
            rewards2[0] = 1;
            rewards2[1] = 0;
            ai.learn(state, actions, rewards2);
            ai.reinforce();
        }
        else if (r == 0 || r <= getPrevReward()) {
            double[] rewards2 = new double[ai.numReward()];
            rewards2[0] = r; // (or 1-r) marks as good action/
            rewards2[1] = 1-r;
            resetAction();                         // seek alternative actions
            ai.learn(state, actions, rewards2);    // learn alternative actions
            ai.penalize();
        }

        ai.decay();
    }

    @Override
    public int getNodeCount(){
        return ai.nodes.size();
    }

    @Override
    public int selectValidAction(final MineField maze) {
        Set feasibleActions = getFeasibleActions(maze);
        int actionId = ai.selectActionId(state, feasibleActions);
        return actionId;
    }
}