From 642397b04b6b6378bc64f43bece61fac3f12da18 Mon Sep 17 00:00:00 2001 From: Sergiu Ionescu Date: Mon, 6 May 2024 21:27:01 +0300 Subject: [PATCH 1/2] Update to support 5 VL53L0X laser ranging sensors --- README.md | 61 ++++----- data/actor.tflite | Bin 2612 -> 4184 bytes esp32.ino | 342 +++++++++++++++++++++++++--------------------- model_data.h | 4 +- 4 files changed, 214 insertions(+), 193 deletions(-) diff --git a/README.md b/README.md index 6eb99d3..845b37c 100644 --- a/README.md +++ b/README.md @@ -31,40 +31,33 @@ docker compose run tensorflow sh convert.sh ### Circuit connection -| ESP32 | TB6612FNG | HC-SRO4 FR | HC-SRO4 FL | HC-SRO4 FM | MPU9250 | Motor Left | Motor Right | -|-------|------------|------------|------------|------------|---------|------------|-------------| -| | VM(9V) | | | | | | | -| VCC | VCC | | | | | | | -| GND | GND | | | | | | | -| GND | GND | | | | | | | -| GND | GND | | | | | | | -| D18 | AIN1 | | | | | | | -| D19 | AIN2 | | | | | | | -| D23 | PWMA | | | | | | | -| D27 | STBY | | | | | | | -| D26 | BIN1 | | | | | | | -| D25 | BIN2 | | | | | | | -| D33 | PWMB | | | | | | | -| D5 | | Echo | | | | | | -| D4 | | Trig | | | | | | -| GND | | Gnd | | | | | | -| VIN | | Vcc | | | | | | -| D14 | | | Echo | | | | | -| D32 | | | Trig | | | | | -| GND | | | Gnd | | | | | -| VIN | | | Vcc | | | | | -| D12 | | | | Echo | | | | -| D13 | | | | Trig | | | | -| GND | | | | Gnd | | | | -| VIN | | | | Vcc | | | | -| D21 | | | | | SDA | | | -| D22 | | | | | SCL | | | -| 3V3 | | | | | VCC | | | -| GND | | | | | GND | | | -| | A1 | | | | | A1 | | -| | A2 | | | | | A2 | | -| | B1 | | | | | | B1 | -| | B2 | | | | | | B2 | +| ESP32 | TB6612FNG | MPU9250 | Motor Left | Motor Right | VL53L0X FM | VL53L0X FR | VL53L0X BR | VL53L0X FL | VL53L0X BL | +|-------|-----------|---------|------------|-------------|------------|------------|------------|------------|------------| +| | VM(9V) | | | | | | | | | +| VCC | VCC | | | | VCC | VCC | VCC | VCC | VCC | +| GND | GND | | | | GND | GND | GND | GND | GND | +| GND | GND | | | | | | | | | +| GND | GND | | | | | | | | | +| D18 | AIN1 | | | | | | | | | +| D19 | AIN2 | | | | | | | | | +| D23 | PWMA | | | | | | | | | +| D27 | STBY | | | | | | | | | +| D26 | BIN1 | | | | | | | | | +| D25 | BIN2 | | | | | | | | | +| D32 | PWMB | | | | | | | | | +| D21 | | SDA | | | SDA | SDA | SDA | SDA | SDA | +| D22 | | SCL | | | SCL | SCL | SCL | SCL | SCL | +| 3V3 | | VCC | | | | | | | | +| GND | | GND | | | | | | | | +| | A1 | | A1 | | | | | | | +| | A2 | | A2 | | | | | | | +| | B1 | | | B1 | | | | | | +| | B2 | | | B2 | | | | | | +| D5 | | | | | | | | | XSHUT | +| D33 | | | | | | | XSHUT | | | +| D12 | | | | | | XSHUT | | | | +| D13 | | | | | | | | XSHUT | | +| D14 | | | | | XSHUT | | | | | ## Demo video diff --git a/data/actor.tflite b/data/actor.tflite index ee99a459f869a07911b492d1f91ae162e5951ab9..5a65abbff5ec970bc3ce9d8feb440ee6211ca1a1 100644 GIT binary patch delta 2688 zcmYM0dpMO@8^-sR(++J!LL@bEPEsN7dS7ShKvG0ZQA#>$D%I3hbin7hb7(qY+dGFM z$t3Odte4s8@F9g!Q&J7lVVa~O4g1@3&G%j3x~|`|)^)G@`Dgv{toxeYBeN{qiGCU! 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(a) : (b)) #endif -#define N_INPUTS 30 +#define N_INPUTS 25 #define N_OUTPUTS 4 #define TENSOR_ARENA_SIZE 2*1024 #define AI_ACTION_FORWARD 0 @@ -29,15 +30,6 @@ Eloquent::TinyML::TensorFlow::TensorFlow const int onBoardLed = 2; -const int echoPinFM = 12; -const int trigPinFM = 13; - -const int echoPinFL = 14; -const int trigPinFL = 32; - -const int echoPinFR = 5; -const int trigPinFR = 4; - const int pulseTimeout = 8000; const char* ssid = "ESP32"; @@ -50,20 +42,28 @@ long duration; int distanceFL; int distanceFR; int distanceFM; +int distanceBR; +int distanceBL; + +VL53L0X sensorFM; +VL53L0X sensorFL; +VL53L0X sensorBL; +VL53L0X sensorFR; +VL53L0X sensorBR; int motorRightReference; int motorLeftReference; int iddleDirection = 1; struct Channel { - int en1; - int en2; - int pwm; - int value; + int en1; + int en2; + int pwm; + int value; }; -Channel motorRight = { 26 , 25 , 33 , 0 }; -Channel motorLeft = { 18 , 19 , 23 , 0 }; // en1 , en2 , pwm , value +Channel motorLeft = { 26 , 25 , 32 , 0 }; +Channel motorRight = { 18 , 19 , 23 , 0 }; // en1 , en2 , pwm , value int standby = 27; @@ -73,15 +73,15 @@ const int pwmChannelLeft = 0; const int pwmChannelRight = 1; const int resolution = 8; -IPAddress local_ip(192,168,1,1); -IPAddress gateway(192,168,1,1); -IPAddress subnet(255,255,255,0); +IPAddress local_ip(192, 168, 1, 1); +IPAddress gateway(192, 168, 1, 1); +IPAddress subnet(255, 255, 255, 0); AsyncWebServer server(80); AsyncWebSocket ws("/ws"); //MPU i2c 21, 22 -MPU9250 MPU(Wire,0x68); +MPU9250 MPU(Wire, 0x68); Madgwick MadgwickFilter; float accelX; @@ -110,25 +110,23 @@ int aiMode = 0; void setup() { Serial.begin(115200); + Wire.begin(); logToSerial("Starting…"); connectOrAp(); - if(!SPIFFS.begin(true)){ + if (!SPIFFS.begin(true)) { Serial.println("An Error has occurred while mounting SPIFFS"); return; } pinMode(onBoardLed, OUTPUT); - pinMode(trigPinFL, OUTPUT); - pinMode(echoPinFL, INPUT); - - pinMode(trigPinFR, OUTPUT); - pinMode(echoPinFR, INPUT); - - pinMode(trigPinFM, OUTPUT); - pinMode(echoPinFM, INPUT); + init_sensor(sensorFM, 0x31, 13); + init_sensor(sensorFL, 0x30, 5); + init_sensor(sensorBL, 0x33, 14); + init_sensor(sensorFR, 0x34, 12); + init_sensor(sensorBR, 0x32, 33); pinMode(motorRight.en1, OUTPUT); pinMode(motorRight.en2, OUTPUT); @@ -144,7 +142,7 @@ void setup() { if (!MPU.begin()) { Serial.println("IMU initialization unsuccessful"); Serial.println("Check IMU wiring or try cycling power"); - while(1) {} + while (1) {} } ledcSetup(pwmChannelLeft, freq, resolution); @@ -166,13 +164,13 @@ void setup() { server.begin(); -// Serial.println("calibrate MPU accelerometer"); -// MPU.calibrateAccel(); -// Serial.println("calibrate MPU gyro"); -// MPU.calibrateGyro(); -// Serial.println("calibrate MPU magnetometer"); -// MPU.calibrateMag(); -// Serial.println("calibrate completed"); + // Serial.println("calibrate MPU accelerometer"); + // MPU.calibrateAccel(); + // Serial.println("calibrate MPU gyro"); + // MPU.calibrateGyro(); + // Serial.println("calibrate MPU magnetometer"); + // MPU.calibrateMag(); + // Serial.println("calibrate completed"); MPU.setAccelRange(MPU9250::ACCEL_RANGE_4G); @@ -185,24 +183,26 @@ void setup() { tf.begin(model_data); // check if model loaded fine if (!tf.isOk()) { - Serial.print("ERROR: "); - Serial.println(tf.getErrorMessage()); - - while (true) delay(1000); + Serial.print("ERROR: "); + Serial.println(tf.getErrorMessage()); + + while (true) delay(1000); } - for(int i=0; i 0) { + + if (loopMs > 0) { loopTimeMs = loopStartTimeMs - loopMs; } loopMs = loopStartTimeMs; - updateDistance(); + read_sensor(sensorFM, distanceFM); + read_sensor(sensorFR, distanceFR); + read_sensor(sensorBR, distanceBR); + read_sensor(sensorFL, distanceFL); + read_sensor(sensorBL, distanceBL); + + pushToInputBuffer(distanceBL, distanceFL, distanceFM, distanceFR, distanceBR); distanceTimeMs = millis() - carrierTimeMs; carrierTimeMs = millis(); getAiAction(); @@ -264,7 +270,7 @@ void handleTf(AsyncWebServerRequest *request) { void sendToWs() { String message; - const size_t capacity = 3*JSON_OBJECT_SIZE(1) + JSON_OBJECT_SIZE(2) + JSON_OBJECT_SIZE(24); + const size_t capacity = 3 * JSON_OBJECT_SIZE(1) + JSON_OBJECT_SIZE(2) + JSON_OBJECT_SIZE(24); DynamicJsonDocument doc(capacity); JsonObject data = doc.createNestedObject("data"); @@ -304,100 +310,120 @@ void sendToWs() { } -void updateDistance() { -// logToSerial("Sensor FL"); - digitalWrite(trigPinFL, LOW); - delayMicroseconds(4); - digitalWrite(trigPinFL, HIGH); - delayMicroseconds(10); - digitalWrite(trigPinFL, LOW); - duration = pulseIn(echoPinFL, HIGH, pulseTimeout); - if(duration > 0) { - distanceFL = duration*0.034/2; - } else { - distanceFL = 200; +void init_sensor(VL53L0X &sensor, uint8_t address, int xshut_pin) { + pinMode(xshut_pin, OUTPUT); + digitalWrite(xshut_pin, LOW); + digitalWrite(xshut_pin, HIGH); + delay(50); + + sensor.setTimeout(500); + if (!sensor.init()) + { + Serial.println("Failed to detect and initialize sensor!"); + return; } + sensor.setAddress(address); + sensor.startContinuous(20); +} -// logToSerial("Sensor FR"); - digitalWrite(trigPinFR, LOW); - delayMicroseconds(4); - digitalWrite(trigPinFR, HIGH); - delayMicroseconds(10); - digitalWrite(trigPinFR, LOW); - duration = pulseIn(echoPinFR, HIGH, pulseTimeout); - if(duration > 0) { - distanceFR = duration*0.034/2; - } else { - distanceFR = 200; +void read_sensor(VL53L0X &sensor, int &distance) { + distance = (int) sensor.readRangeContinuousMillimeters() / 10; + Serial.print(sensor.readRangeContinuousMillimeters()); + if (sensor.timeoutOccurred()) { + Serial.print(" TIMEOUT"); } -// logToSerial("Sensor FM"); - digitalWrite(trigPinFM, LOW); - delayMicroseconds(4); - digitalWrite(trigPinFM, HIGH); - delayMicroseconds(10); - digitalWrite(trigPinFM, LOW); - duration = pulseIn(echoPinFM, HIGH, pulseTimeout); - if(duration > 0) { - distanceFM = duration*0.034/2; - } else { - distanceFM = 200; - } - pushToInputBuffer(distanceFL, distanceFM, distanceFR); + Serial.println(); } -void updatePWM(){ - motorRight.value = motorRightReference; - motorLeft.value = motorLeftReference; - bool distanceThreshold = false; - +void scan_i2c() { + byte error, address; + int nDevices; - if(distanceFL <= 30 || distanceFM <= 30 || distanceFR <= 30) { - distanceThreshold = true; - } + Serial.println("Scanning..."); - if(distanceThreshold) { - digitalWrite(onBoardLed,HIGH); - } else { - digitalWrite(onBoardLed,LOW); - } + nDevices = 0; + for (address = 1; address < 127; address++ ) + { + Wire.beginTransmission(address); + error = Wire.endTransmission(); + + if (error == 0) + { + Serial.print("I2C device found at address 0x"); + if (address < 16) + Serial.print("0"); + Serial.print(address, HEX); + Serial.println(" !"); - if((aiMode == AI_MODE_ASSIST && distanceThreshold) || aiMode == AI_MODE_AUTO) { - if(aiAction == AI_ACTION_FORWARD) { - motorRight.value = 150; - motorLeft.value = 150; - } else if(aiAction == AI_ACTION_RIGHT) { - motorRight.value = -150; - motorLeft.value = 150; - } else if(aiAction == AI_ACTION_LEFT) { - motorRight.value = 150; - motorLeft.value = -150; - } else if(aiAction == AI_ACTION_BACK) { - motorRight.value = -150; - motorLeft.value = -150; - } - } - - //Channel 1 - if(motorRight.value < 0){ - digitalWrite(motorRight.en1, LOW); - digitalWrite(motorRight.en2, HIGH); - } else{ - digitalWrite(motorRight.en1, HIGH); - digitalWrite(motorRight.en2, LOW); + nDevices++; } - ledcWrite(pwmChannelRight, abs(motorRight.value)); - - //Channel 2 - if(motorLeft.value < 0){ - digitalWrite(motorLeft.en1, LOW); - digitalWrite(motorLeft.en2, HIGH); - }else{ - digitalWrite(motorLeft.en1, HIGH); - digitalWrite(motorLeft.en2, LOW); + else if (error == 4) + { + Serial.print("Unknown error at address 0x"); + if (address < 16) + Serial.print("0"); + Serial.println(address, HEX); } - ledcWrite(pwmChannelLeft, abs(motorLeft.value)); + } + if (nDevices == 0) + Serial.println("No I2C devices found\n"); + else + Serial.println("done\n"); +} + +void updatePWM() { + motorRight.value = motorRightReference; + motorLeft.value = motorLeftReference; + bool distanceThreshold = false; + + + if (distanceFL <= 50 || distanceFM <= 50 || distanceFR <= 50) { + distanceThreshold = true; + } + + if (distanceThreshold) { + digitalWrite(onBoardLed, HIGH); + } else { + digitalWrite(onBoardLed, LOW); + } + + if ((aiMode == AI_MODE_ASSIST && distanceThreshold) || aiMode == AI_MODE_AUTO) { + if (aiAction == AI_ACTION_FORWARD) { + motorRight.value = 150; + motorLeft.value = 150; + } else if (aiAction == AI_ACTION_RIGHT) { + motorRight.value = -150; + motorLeft.value = 150; + } else if (aiAction == AI_ACTION_LEFT) { + motorRight.value = 150; + motorLeft.value = -150; + } else if (aiAction == AI_ACTION_BACK) { + motorRight.value = -150; + motorLeft.value = -150; + } + } + + //Channel 1 + if (motorRight.value < 0) { + digitalWrite(motorRight.en1, LOW); + digitalWrite(motorRight.en2, HIGH); + } else { + digitalWrite(motorRight.en1, HIGH); + digitalWrite(motorRight.en2, LOW); + } + ledcWrite(pwmChannelRight, abs(motorRight.value)); + + //Channel 2 + if (motorLeft.value < 0) { + digitalWrite(motorLeft.en1, LOW); + digitalWrite(motorLeft.en2, HIGH); + } else { + digitalWrite(motorLeft.en1, HIGH); + digitalWrite(motorLeft.en2, LOW); + } + ledcWrite(pwmChannelLeft, abs(motorLeft.value)); } void handleLogin(AsyncWebServerRequest *request) { @@ -428,12 +454,12 @@ void handleScan(AsyncWebServerRequest *request) { void handleConnect(AsyncWebServerRequest *request) { int params = request->params(); - for(int i=0;igetParam(i); - if(param->name() == "ssid") { + if (param->name() == "ssid") { wifi_ssid = param->value(); } - if(param->name() == "password") { + if (param->name() == "password") { wifi_password = param->value(); } } @@ -455,16 +481,16 @@ void handleConnect(AsyncWebServerRequest *request) { void connectOrAp() { WiFi.begin(); -// for(int i=0;i<10;i++){ -// if(WiFi.status() == WL_CONNECTED) { -// delay(100); -// break; -// } -// delay(500); -// logToSerial("Connecting to previous WiFi.."); -// } - - if(WiFi.status() != WL_CONNECTED) { + // for(int i=0;i<10;i++){ + // if(WiFi.status() == WL_CONNECTED) { + // delay(100); + // break; + // } + // delay(500); + // logToSerial("Connecting to previous WiFi.."); + // } + + if (WiFi.status() != WL_CONNECTED) { WiFi.mode(WIFI_AP); WiFi.disconnect(); delay(100); @@ -544,33 +570,35 @@ void readMPU() { } float normalizeInput(int distance) { - float result = round((float) distance/10.0); + float result = round((float) distance / 10.0); - return result/20.0; + return result / 20.0; } -void pushToInputBuffer(int distanceFL, int distanceFM, int distanceFR) { - for(int i=0; i Date: Sat, 11 May 2024 15:43:05 +0300 Subject: [PATCH 2/2] Use action state value critic --- .DS_Store | Bin 6148 -> 6148 bytes data/actor.tflite | Bin 4184 -> 12024 bytes model_data.h | 4 +- sym/js/actor.critic.js | 152 ++++++++++++------- sym/js/advantages.chart.js | 68 +++++++++ sym/js/car.js | 2 +- sym/js/environment/basic.environment.js | 1 - sym/js/reward.chart.js | 40 +---- sym/js/reward.environment.js | 19 ++- sym/model/5.3.128/actor.json | 1 + sym/model/5.3.128/actor.weights.bin | Bin 0 -> 10256 bytes sym/model/5.3.128/critic.json | 1 + sym/model/5.3.128/critic.weights.bin | Bin 0 -> 9732 bytes sym/model/5.5.20/actor.json | 1 + sym/model/5.5.20/actor.weights.bin | Bin 0 -> 2416 bytes sym/model/5.5.20/critic.json | 1 + sym/model/5.5.20/critic.weights.bin | Bin 0 -> 2164 bytes sym/model/5.5.20/stateAdvantages.json | 1 + sym/model/actor.json | 2 +- sym/model/actor.weights.bin | Bin 844 -> 10256 bytes sym/model/config.json | 22 +-- sym/model/critic.json | 2 +- sym/model/critic.weights.bin | Bin 708 -> 9732 bytes sym/sym.html | 194 ++++++++++++++---------- 24 files changed, 315 insertions(+), 196 deletions(-) create mode 100644 sym/js/advantages.chart.js create mode 100644 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computeTrainingData(previousState, previousAction, state, reward, pushToChart = true) { let normalizedPreviousState = normalizer.normalizeFeatures(previousState); - let tfPreviousState = tf.tensor2d(normalizedPreviousState, [1, normalizedPreviousState.length]); - const tfPredictedPreviousStateValue = this.critic.predict(tfPreviousState); + let normalizedPreviousActionState = [...normalizedPreviousState, ...this.getActionOneHot(previousAction)]; + let tfPreviousActionState = tf.tensor2d(normalizedPreviousActionState, [1, normalizedPreviousActionState.length]); + const tfPredictedPreviousStateValue = this.critic.predict(tfPreviousActionState); let predictedPreviousStateValue = tfPredictedPreviousStateValue.dataSync(); - let normalizedState = normalizer.normalizeFeatures(state); - let tfState = tf.tensor2d(normalizedState, [1, normalizedState.length]); - let tfPredictedStateValue = this.critic.predict(tfState); - let predictedStateValue = tfPredictedStateValue.dataSync(); + let normalizeStateFeatures = normalizer.normalizeFeatures(state); + let normalizedActionStates = []; + for (let potentialAction of [0, 1, 2, 3]) { + normalizedActionStates.push([...normalizeStateFeatures, ...this.getActionOneHot(potentialAction)]); + } + let tfState = tf.tensor2d(normalizedActionStates, [normalizedActionStates.length, normalizedActionStates[0].length]); + let tfPredictedActionStateValues = this.critic.predict(tfState); + let predictedActionStateValues = tfPredictedActionStateValues.dataSync(); - let target = reward + config.discountFactor * predictedStateValue; - let advantage = target - predictedPreviousStateValue; + let targets = []; + for (let predictedActionStateValue of predictedActionStateValues) { + targets.push(reward + config.discountFactor * predictedActionStateValue) + } + let advantages = []; + for(let potentialAction in targets) { + advantages.push(targets[potentialAction] - predictedPreviousStateValue); + } if (pushToChart) { - pushToRewardChart(actorCritic.step, reward, parseFloat(predictedPreviousStateValue), parseFloat(predictedStateValue), advantage, target); + pushToAdvantagesChart(actorCritic.step, advantages); + pushToRewardChart(actorCritic.step, reward); } - tfPreviousState.dispose(); + tfPreviousActionState.dispose(); tfPredictedPreviousStateValue.dispose(); tfState.dispose(); - tfPredictedStateValue.dispose(); + tfPredictedActionStateValues.dispose(); - return {normalizedState: normalizedPreviousState, target, advantage}; + return {normalizedState: normalizedPreviousState, normalizedActionState: normalizedPreviousActionState, targets, advantages}; } async trainModel() { let epochs = 200; let batchSize = 16; + let tfActionState = tf.tensor2d( + this.trainingBuffer['tfActionState'], + [this.trainingBuffer['tfActionState'].length, this.trainingBuffer['tfActionState'][0].length] + ); let tfState = tf.tensor2d( this.trainingBuffer['tfState'], [this.trainingBuffer['tfState'].length, this.trainingBuffer['tfState'][0].length] @@ -232,7 +235,7 @@ class ActorCritic { } ); - await this.critic.fit(tfState, targets, { + await this.critic.fit(tfActionState, targets, { epochs: epochs, batchSize: batchSize, callbacks: [ @@ -245,6 +248,7 @@ class ActorCritic { } ); + tfActionState.dispose(); tfState.dispose(); advantages.dispose() targets.dispose(); @@ -257,8 +261,6 @@ class ActorCritic { this.averageReward = (this.averageReward * this.episode + reward) / (this.episode + 1); this.episode++; - let stateAdvantagesSize = parseInt(3000000 / JSON.stringify(Object.entries(this.stateAdvantages)[0]).length); - localStorage.setItem('stateAdvantages', JSON.stringify(Object.fromEntries(Object.entries(this.stateAdvantages).slice(-stateAdvantagesSize)))); localStorage.setItem('episode', this.episode); localStorage.setItem('averageReward', this.averageReward); localStorage.setItem('name', this.name); @@ -280,7 +282,6 @@ class ActorCritic { this.name = name; this.episode = fromLocalStorage ? (localStorage.getItem('episode') ?? 0) : config.episode; this.replayBuffer = []; - this.stateAdvantages = JSON.parse(localStorage.getItem('stateAdvantages') ?? '{}'); this.averageReward = localStorage.getItem('averageReward') ?? 0; document.getElementById('episode').innerText = this.episode; document.getElementById('name').innerHTML = this.name; @@ -329,14 +330,49 @@ class ActorCritic { return sum / list.length; } + getBoltzmannDistribution(weights) { + + const probabilitiesArray = [].slice.call(weights); + + const numerator = []; + for (let i = 0; i < probabilitiesArray.length; i++) { + numerator.push(Math.exp(-probabilitiesArray[i] / this.config.boltzmannTemperature)); + } + + let denominator = 0; + for (let i = 0; i < numerator.length; i++) { + denominator += numerator[i]; + } + + const boltzmannDist = []; + for (let i = 0; i < numerator.length; i++) { + boltzmannDist.push(numerator[i] / denominator); + } + + return boltzmannDist; + } + + getActionOneHot(action) { + switch (action) { + case 0: + return [0.0, 0.0]; + case 1: + return [0.0, 1.0]; + case 2: + return [1.0, 0.0]; + case 3: + return [1.0, 1.0]; + } + } + reset() { this.replayBuffer = []; - this.trainingBufferKeys = {}; this.rewards = []; this.testRewards = []; this.step = 0; - this.test = !this.test; + this.test = !this.test && this.episode > 0 && this.episode % 10 === 0; this.trainingBuffer = { + 'tfActionState': [], 'tfState': [], 'advantages': [], 'targets': [] diff --git a/sym/js/advantages.chart.js b/sym/js/advantages.chart.js new file mode 100644 index 0000000..f8762f2 --- /dev/null +++ b/sym/js/advantages.chart.js @@ -0,0 +1,68 @@ +function createAdvantagesChart() { + var canvasContainer = document.getElementById('advantages-chart'); + var canvas = document.createElement("CANVAS"); + canvasContainer.style.width = 350; + canvasContainer.appendChild(canvas); + advantagesChart = new Chart(canvas, { + type: 'bar', + data: { + labels: [], + datasets: [ + { + label: 'Right', + fill: false, + backgroundColor: "#1238c1", + data: [] + }, + { + label: 'Forward', + fill: false, + backgroundColor: "#16A085", + data: [] + }, + { + label: 'Left', + fill: false, + backgroundColor: "#E74C3C", + data: [] + }, + { + label: 'Back', + fill: false, + backgroundColor: "#e7cb3c", + data: [] + } + ] + }, + options: { + title: { + display: true, + text: 'Advantages' + }, + scales: { + xAxes: [{ + stacked: true, + }], + yAxes: [{ + stacked: true + }] + } + } + }); +} + +function pushToAdvantagesChart(step, advantages) { + advantagesChart.data.labels.push(step); + advantagesChart.data.datasets[0].data.push(advantages[ACTION_RIGHT]); + advantagesChart.data.datasets[1].data.push(advantages[ACTION_FORWARD]); + advantagesChart.data.datasets[2].data.push(advantages[ACTION_LEFT]); + advantagesChart.data.datasets[3].data.push(advantages[ACTION_BACK]); + if (advantagesChart.data.labels.length > 50) { + advantagesChart.data.labels.shift(); + advantagesChart.data.datasets[0].data.shift(); + advantagesChart.data.datasets[1].data.shift(); + advantagesChart.data.datasets[2].data.shift(); + advantagesChart.data.datasets[3].data.shift(); + } + advantagesChart.update(); +} \ No newline at end of file diff --git a/sym/js/car.js b/sym/js/car.js index c982c21..368fa33 100644 --- a/sym/js/car.js +++ b/sym/js/car.js @@ -61,7 +61,7 @@ class Car { this.state.push(state); this.state.shift(); - let {action, agentAction} = actorCritic.getAction(this.state, actions, this.pushToChart); + let {action, agentAction} = actorCritic.getAction(this.state, actions, this.pushToChart, reward); this.perceptionChart.update(normalizer.normalizeFeatures(this.previousState), this.previousAgentAction, reward); diff --git a/sym/js/environment/basic.environment.js b/sym/js/environment/basic.environment.js index a838f63..aacaa65 100644 --- a/sym/js/environment/basic.environment.js +++ b/sym/js/environment/basic.environment.js @@ -123,7 +123,6 @@ class BasicEnvironment { } localStorage.setItem('historyData', JSON.stringify(historyData)); - config.epsilon = Math.max(0, (200 - actorCritic.episode) / 200); saveConfigToStorage(); this.car.actorCritic.reset(); diff --git a/sym/js/reward.chart.js b/sym/js/reward.chart.js index 13c7835..70ec231 100644 --- a/sym/js/reward.chart.js +++ b/sym/js/reward.chart.js @@ -15,36 +15,6 @@ function createRewardChart() { backgroundColor: "#157041", borderColor: "blue", data: [] - }, - { - label: 'predicted', - yAxisID: 'y-axis-1', - fill: false, - borderColor: "orange", - data: [], - }, - { - label: 'predicted next', - yAxisID: 'y-axis-1', - fill: false, - borderColor: "green", - data: [], - }, - { - label: 'advantage', - yAxisID: 'y-axis-1', - fill: false, - borderColor: "yellow", - data: [], - hidden: false, - }, - { - label: 'target', - yAxisID: 'y-axis-1', - fill: false, - borderColor: "gray", - data: [], - hidden: false, } ] }, @@ -67,20 +37,12 @@ function createRewardChart() { }); } -function pushToRewardChart(step, score, predicted, predictedNext, advantage, target) { +function pushToRewardChart(step, score) { rewardChart.data.labels.push(step); rewardChart.data.datasets[0].data.push(score); - rewardChart.data.datasets[1].data.push(predicted); - rewardChart.data.datasets[2].data.push(predictedNext); - rewardChart.data.datasets[3].data.push(advantage); - rewardChart.data.datasets[4].data.push(target); if (rewardChart.data.labels.length > 50) { rewardChart.data.labels.shift(); rewardChart.data.datasets[0].data.shift(); - rewardChart.data.datasets[1].data.shift(); - rewardChart.data.datasets[2].data.shift(); - rewardChart.data.datasets[3].data.shift(); - rewardChart.data.datasets[4].data.shift(); } rewardChart.update(); } \ No newline at end of file diff --git a/sym/js/reward.environment.js b/sym/js/reward.environment.js index f115f3f..02263c3 100644 --- a/sym/js/reward.environment.js +++ b/sym/js/reward.environment.js @@ -18,9 +18,22 @@ class RewardEnvironment { reward += 3 * car.maxDistance; } + let bonusFL = 1; + let bonusFR = 1; + let penaltyFL = 1; + let penaltyFR = 1; + if (sensorDistanceFL > sensorDistanceFR) { + bonusFL = 0.5; + penaltyFR = 2; + } + if (sensorDistanceFL < sensorDistanceFR) { + bonusFR = 0.5; + penaltyFL = 2; + } + reward -= car.maxDistance - sensorDistanceFM; - reward -= car.maxDistance - sensorDistanceFL; - reward -= car.maxDistance - sensorDistanceFR; + reward -= (car.maxDistance - sensorDistanceFL) * bonusFL * penaltyFL; + reward -= (car.maxDistance - sensorDistanceFR) * bonusFR * penaltyFR; if (reward > this.maxReward) { this.maxReward = reward; @@ -28,6 +41,6 @@ class RewardEnvironment { this.previousMinDistance = minVisibleDistance; - return Math.round(reward/8)/100; + return Math.max(0, reward); } } \ No newline at end of file diff --git a/sym/model/5.3.128/actor.json b/sym/model/5.3.128/actor.json new file mode 100644 index 0000000..86d1671 --- /dev/null +++ b/sym/model/5.3.128/actor.json @@ -0,0 +1 @@ +{"modelTopology":{"class_name":"Sequential","config":{"name":"sequential_1","layers":[{"class_name":"InputLayer","config":{"batch_input_shape":[null,15],"dtype":"float32","sparse":false,"name":"input1"}},{"class_name":"Dropout","config":{"rate":0,"noise_shape":null,"seed":null,"name":"dropout_Dropout1","trainable":true}},{"class_name":"Dense","config":{"units":128,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":null}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense2","trainable":true}},{"class_name":"Dropout","config":{"rate":0,"noise_shape":null,"seed":null,"name":"dropout_Dropout2","trainable":true}},{"class_name":"Dense","config":{"units":4,"activation":"softmax","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":null}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense3","trainable":true}}]},"keras_version":"tfjs-layers 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Hyperparameters

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Model

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Model

discountFactor: 0.99, actorLearningRate: 0.001, criticLearningRate: 0.005, - epsilon: 0.9, - minEpsilon: 0.1, + boltzmannTemperature: 0.3, + boltzmannThreshold: 0.0, episodeLength: 1000, } if (localStorage.getItem('config')) { @@ -236,11 +255,13 @@

Model