From 4d78e8d873e6a37365335c802151f8ce64eb8294 Mon Sep 17 00:00:00 2001
From: Tue Herlau <tuhe@dtu.dk>
Date: Tue, 18 Feb 2025 11:13:26 +0100
Subject: [PATCH] Updated lecture examples
---
irlc/lectures/lec01/lecture_01_car_random.py | 2 +-
irlc/lectures/lec03/__init__.py | 1 +
irlc/lectures/lec03/ex_03_search.py | 18 +++
irlc/lectures/lec03/lecture_03_alphab.py | 7 +
.../lecture_03_dotsearch_astar_manhattan.py | 8 ++
.../lec03/lecture_03_dotsearch_bfs.py | 9 ++
.../lec03/lecture_03_dotsearch_dfs.py | 9 ++
.../lectures/lec03/lecture_03_dotsearch_dp.py | 12 ++
irlc/lectures/lec03/lecture_03_expectimax.py | 7 +
irlc/lectures/lec03/lecture_03_minimax.py | 35 +++++
.../lec03/lecture_03_squaresearch_bfs.py | 12 ++
.../lec03/lecture_03_tricksearch_astar.py | 10 ++
.../lec03/lecture_03_tricksearch_bfs.py | 21 +++
.../lec03/lecture_03_tricksearch_dfs.py | 10 ++
...enaigym.video.0.8068.video000000.meta.json | 1 +
.../openaigym.video.0.8068.video000000.mp4 | Bin 0 -> 48 bytes
irlc/lectures/lec04/__init__.py | 1 +
.../lec04/lecture_04_car_basic_pid.py | 12 ++
irlc/lectures/lec04/lecture_04_cartpole_A.py | 9 ++
irlc/lectures/lec04/lecture_04_cartpole_B.py | 14 ++
irlc/lectures/lec04/lecture_04_harmonic.py | 14 ++
irlc/lectures/lec04/lecture_04_lunar.py | 12 ++
.../lec04/lecture_04_pendulum_random.py | 8 ++
irlc/lectures/lec04/lecture_04_pid_d.py | 5 +
irlc/lectures/lec04/lecture_04_pid_iA.py | 5 +
irlc/lectures/lec04/lecture_04_pid_iB.py | 5 +
irlc/lectures/lec04/lecture_04_pid_p.py | 16 +++
irlc/tests/tests_week03.py | 88 ++++++++++++
irlc/tests/tests_week04.py | 131 ++++++++++++++++++
.../Exam5InventoryEvaluation.pkl | Bin 217 -> 217 bytes
irlc/tests/unitgrade_data/Exam6Toy2d.pkl | Bin 283 -> 283 bytes
.../ExamQuestion7FlowersStore.pkl | Bin 182 -> 182 bytes
.../unitgrade_data/Problem1BobsFriend.pkl | Bin 170 -> 170 bytes
.../Problem1DiscreteKuromoto.pkl | Bin 570 -> 570 bytes
.../tests/unitgrade_data/Problem1Kuramoto.pkl | Bin 3014 -> 3014 bytes
.../unitgrade_data/Problem2BobsPolicy.pkl | Bin 368 -> 368 bytes
.../Problem2DeterministicDP.pkl | Bin 161 -> 161 bytes
.../Problem2DeterministicInventory.pkl | Bin 128 -> 128 bytes
.../Problem3InventoryInventoryEnvironment.pkl | Bin 323 -> 323 bytes
irlc/tests/unitgrade_data/Problem3PID.pkl | Bin 334 -> 334 bytes
.../unitgrade_data/Problem3StochasticDP.pkl | Bin 345 -> 345 bytes
irlc/tests/unitgrade_data/Problem4DPAgent.pkl | Bin 121 -> 121 bytes
.../unitgrade_data/Problem4InventoryTrain.pkl | Bin 242 -> 242 bytes
.../tests/unitgrade_data/Problem4PIDAgent.pkl | Bin 4673 -> 4673 bytes
.../Problem5PacmanHardcoded.pkl | Bin 125 -> 125 bytes
.../Problem6ChessTournament.pkl | Bin 197 -> 197 bytes
irlc/tests/unitgrade_data/Problem7PIDCar.pkl | Bin 419 -> 419 bytes
47 files changed, 481 insertions(+), 1 deletion(-)
create mode 100644 irlc/lectures/lec03/__init__.py
create mode 100644 irlc/lectures/lec03/ex_03_search.py
create mode 100644 irlc/lectures/lec03/lecture_03_alphab.py
create mode 100644 irlc/lectures/lec03/lecture_03_dotsearch_astar_manhattan.py
create mode 100644 irlc/lectures/lec03/lecture_03_dotsearch_bfs.py
create mode 100644 irlc/lectures/lec03/lecture_03_dotsearch_dfs.py
create mode 100644 irlc/lectures/lec03/lecture_03_dotsearch_dp.py
create mode 100644 irlc/lectures/lec03/lecture_03_expectimax.py
create mode 100644 irlc/lectures/lec03/lecture_03_minimax.py
create mode 100644 irlc/lectures/lec03/lecture_03_squaresearch_bfs.py
create mode 100644 irlc/lectures/lec03/lecture_03_tricksearch_astar.py
create mode 100644 irlc/lectures/lec03/lecture_03_tricksearch_bfs.py
create mode 100644 irlc/lectures/lec03/lecture_03_tricksearch_dfs.py
create mode 100644 irlc/lectures/lec03/snapshot_base/openaigym.video.0.8068.video000000.meta.json
create mode 100644 irlc/lectures/lec03/snapshot_base/openaigym.video.0.8068.video000000.mp4
create mode 100644 irlc/lectures/lec04/__init__.py
create mode 100644 irlc/lectures/lec04/lecture_04_car_basic_pid.py
create mode 100644 irlc/lectures/lec04/lecture_04_cartpole_A.py
create mode 100644 irlc/lectures/lec04/lecture_04_cartpole_B.py
create mode 100644 irlc/lectures/lec04/lecture_04_harmonic.py
create mode 100644 irlc/lectures/lec04/lecture_04_lunar.py
create mode 100644 irlc/lectures/lec04/lecture_04_pendulum_random.py
create mode 100644 irlc/lectures/lec04/lecture_04_pid_d.py
create mode 100644 irlc/lectures/lec04/lecture_04_pid_iA.py
create mode 100644 irlc/lectures/lec04/lecture_04_pid_iB.py
create mode 100644 irlc/lectures/lec04/lecture_04_pid_p.py
create mode 100644 irlc/tests/tests_week03.py
create mode 100644 irlc/tests/tests_week04.py
diff --git a/irlc/lectures/lec01/lecture_01_car_random.py b/irlc/lectures/lec01/lecture_01_car_random.py
index fb25f46..76e673c 100644
--- a/irlc/lectures/lec01/lecture_01_car_random.py
+++ b/irlc/lectures/lec01/lecture_01_car_random.py
@@ -8,5 +8,5 @@ if __name__ == "__main__":
env.action_space.low[1] = 0 # To ensure we do not drive backwards.
agent = Agent(env)
env, agent = interactive(env, agent, autoplay=False)
- stats, _ = train(env, agent, num_episodes=1, verbose=False)
+ stats, _ = train(env, agent, num_episodes=10, verbose=False)
env.close()
diff --git a/irlc/lectures/lec03/__init__.py b/irlc/lectures/lec03/__init__.py
new file mode 100644
index 0000000..a56057c
--- /dev/null
+++ b/irlc/lectures/lec03/__init__.py
@@ -0,0 +1 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
diff --git a/irlc/lectures/lec03/ex_03_search.py b/irlc/lectures/lec03/ex_03_search.py
new file mode 100644
index 0000000..7d5ce2c
--- /dev/null
+++ b/irlc/lectures/lec03/ex_03_search.py
@@ -0,0 +1,18 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc import Agent, train, savepdf
+from irlc.pacman.pacman_environment import PacmanEnvironment
+from irlc.ex03.dp_forward import dp_forward
+from irlc.ex03.search_problem import SearchProblem
+from irlc.ex03.search_problem import EnsureTerminalSelfTransitionsWrapper
+from irlc.ex03.pacman_search import layout2, layout1
+
+if __name__ == "__main__":
+ env = PacmanEnvironment(layout_str=layout1, render_mode='human')
+ env.reset()
+ savepdf("ex03_layout1", env=env)
+ env.close()
+
+ env = PacmanEnvironment(layout_str=layout1, render_mode='human')
+ env.reset()
+ savepdf("ex03_layout2", env=env)
+ env.close()
diff --git a/irlc/lectures/lec03/lecture_03_alphab.py b/irlc/lectures/lec03/lecture_03_alphab.py
new file mode 100644
index 0000000..fa81c07
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_alphab.py
@@ -0,0 +1,7 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.ex03multisearch.multisearch_alphabeta import GymAlphaBetaAgent
+from irlc.lectures.lec03.lecture_03_minimax import gminmax
+
+if __name__ == "__main__":
+ d = 3
+ gminmax(Agent=GymAlphaBetaAgent,depth=d)
diff --git a/irlc/lectures/lec03/lecture_03_dotsearch_astar_manhattan.py b/irlc/lectures/lec03/lecture_03_dotsearch_astar_manhattan.py
new file mode 100644
index 0000000..ebea74a
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_dotsearch_astar_manhattan.py
@@ -0,0 +1,8 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.lectures.lec03.lecture_03_dotsearch_dp import singledot
+from irlc.lectures.chapter4search.yield_version.pacman_yield import AStarAgentYield
+from irlc.ex03multisearch.pacman_problem_positionsearch_astar import manhattanHeuristic
+
+if __name__ == "__main__":
+ agent_args = dict(heuristic=manhattanHeuristic)
+ singledot(SAgent=AStarAgentYield, agent_args=agent_args)
diff --git a/irlc/lectures/lec03/lecture_03_dotsearch_bfs.py b/irlc/lectures/lec03/lecture_03_dotsearch_bfs.py
new file mode 100644
index 0000000..2fafd77
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_dotsearch_bfs.py
@@ -0,0 +1,9 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.lectures.lec03.lecture_03_dotsearch_dp import singledot
+from irlc.lectures.chapter4search.yield_version.pacman_yield import BFSAgentYield
+
+if __name__ == "__main__":
+ # agent_args = dict(heuristic=manhattanHeuristic,N=30)
+ singledot(SAgent=BFSAgentYield)
+
+ # singledot(SAgent=BFSAgentYield)
diff --git a/irlc/lectures/lec03/lecture_03_dotsearch_dfs.py b/irlc/lectures/lec03/lecture_03_dotsearch_dfs.py
new file mode 100644
index 0000000..276aa6b
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_dotsearch_dfs.py
@@ -0,0 +1,9 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.lectures.lec03.lecture_03_dotsearch_dp import singledot
+from irlc.lectures.chapter4search.yield_version.pacman_yield import DFSAgentYield
+
+if __name__ == "__main__":
+ # agent_args = dict(heuristic=manhattanHeuristic,N=30)
+ singledot(SAgent=DFSAgentYield)
+
+ # singledot(SAgent=BFSAgentYield)
diff --git a/irlc/lectures/lec03/lecture_03_dotsearch_dp.py b/irlc/lectures/lec03/lecture_03_dotsearch_dp.py
new file mode 100644
index 0000000..baff1ee
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_dotsearch_dp.py
@@ -0,0 +1,12 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.lectures.chapter4search.yield_version.pacman_yield import stest, ForwardDPSearchAgent, dargs
+# from irlc.ex03.pacsearch_agents import GymPositionSearchProblem, manhattanHeuristic, GymCornersProblem, cornersHeuristic, foodHeuristic, GymFoodSearchProblem, GymAnyFoodSearchProblem
+from irlc.ex03multisearch.pacman_problem_positionsearch import GymPositionSearchProblem#, manhattanHeuristic
+
+
+def singledot(layout='smallMaze', SAgent=None, agent_args=None, layout_str=None):
+ stest(layout=layout, layout_str=layout_str, SAgent=SAgent, prob=GymPositionSearchProblem(), agent_args=agent_args, zoom=2, **dargs, fps=30) # part 3
+
+if __name__ == "__main__":
+ agent_args = dict(N=30)
+ singledot(SAgent=ForwardDPSearchAgent, agent_args=agent_args)
diff --git a/irlc/lectures/lec03/lecture_03_expectimax.py b/irlc/lectures/lec03/lecture_03_expectimax.py
new file mode 100644
index 0000000..826975f
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_expectimax.py
@@ -0,0 +1,7 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.ex03multisearch.multisearch_agents import GymExpectimaxAgent
+from irlc.lectures.lec03.lecture_03_minimax import gminmax
+
+if __name__ == "__main__":
+ d = 3
+ gminmax(Agent=GymExpectimaxAgent,depth=d)
diff --git a/irlc/lectures/lec03/lecture_03_minimax.py b/irlc/lectures/lec03/lecture_03_minimax.py
new file mode 100644
index 0000000..eb8ee73
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_minimax.py
@@ -0,0 +1,35 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.ex01.agent import train
+from irlc.pacman.pacman_environment import GymPacmanEnvironment
+from irlc.utils.video_monitor import VideoMonitor
+from irlc.ex03multisearch.multisearch_agents import GymMinimaxAgent
+
+
+layout_str = """
+%%%%%%%%%
+% %
+% %%%% %
+% %
+% P %
+%%%% %
+%%%% .G %
+%%%% %
+%%%%%%%%%
+""".strip()
+
+def gminmax(layout='smallClassic', layout_str=layout_str, Agent=None, depth=3, **kwargs):
+ zoom = 2
+ env = GymPacmanEnvironment(layout=layout, layout_str=layout_str, zoom=zoom, **kwargs)
+ agent = Agent(env, depth=depth)
+ from irlc import PlayWrapper
+ agent = PlayWrapper(agent, env)
+
+ env = VideoMonitor(env, agent=agent, agent_monitor_keys=tuple(), fps=10)
+ train(env, agent, num_episodes=30)
+ env.close()
+
+if __name__ == "__main__":
+ d = 3
+ gminmax(layout='minimaxClassic', layout_str=layout_str, Agent=GymMinimaxAgent,depth=d)
+ # gminmax(layout='minimaxClassic', layout_str=layout_str, Agent=GymAlphaBetaAgent, depth=d)
+ # gminmax(layout='minimaxClassic', layout_str=layout_str, Agent=GymExpectimaxAgent,depth=d)
diff --git a/irlc/lectures/lec03/lecture_03_squaresearch_bfs.py b/irlc/lectures/lec03/lecture_03_squaresearch_bfs.py
new file mode 100644
index 0000000..ac1e095
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_squaresearch_bfs.py
@@ -0,0 +1,12 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.lectures.chapter4search.yield_version.pacman_yield import BFSAgentYield
+from irlc.lectures.chapter4search.search_tables import s_large
+
+# def tricksearchdot(layout='trickySearch', SAgent=None, agent_args=None, layout_str=None):
+# stest(layout_str=layout_str, SAgent=SAgent, prob=GymFoodSearchProblem(), agent_args=agent_args, zoom=2, **dargs, fps=1000) # part 3
+
+from irlc.lectures.lec03.lecture_03_tricksearch_bfs import tricksearchdot
+
+if __name__ == "__main__":
+ # agent_args = dict(heuristic=manhattanHeuristic,N=30)
+ tricksearchdot(SAgent=BFSAgentYield, agent_args=None, layout_str=s_large)
diff --git a/irlc/lectures/lec03/lecture_03_tricksearch_astar.py b/irlc/lectures/lec03/lecture_03_tricksearch_astar.py
new file mode 100644
index 0000000..6c65849
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_tricksearch_astar.py
@@ -0,0 +1,10 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+# from irlc.ex03.pacsearch_agents import GymPositionSearchProblem, manhattanHeuristic, GymCornersProblem, cornersHeuristic, foodHeuristic, GymFoodSearchProblem, GymAnyFoodSearchProblem
+from irlc.lectures.chapter4search.yield_version.pacman_yield import AStarAgentYield
+
+from irlc.lectures.lec03.lecture_03_tricksearch_bfs import tricksearchdot
+from irlc.ex03multisearch.pacman_problem_foodsearch_astar import foodHeuristic
+
+if __name__ == "__main__":
+ agent_args = dict(heuristic=foodHeuristic)
+ tricksearchdot(SAgent=AStarAgentYield, agent_args=agent_args)
diff --git a/irlc/lectures/lec03/lecture_03_tricksearch_bfs.py b/irlc/lectures/lec03/lecture_03_tricksearch_bfs.py
new file mode 100644
index 0000000..89b7764
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_tricksearch_bfs.py
@@ -0,0 +1,21 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.lectures.chapter4search.yield_version.pacman_yield import stest, dargs
+from irlc.ex03multisearch.pacman_problem_foodsearch import GymFoodSearchProblem
+from irlc.lectures.chapter4search.yield_version.pacman_yield import BFSAgentYield
+
+layout_str = """
+%%%%%%%%%%%%
+% % %
+%.%.%.%% % %
+% P % %
+%%%%%%%%%% %
+%. %
+%%%%%%%%%%%%
+""".strip()
+
+def tricksearchdot(layout_str=layout_str, SAgent=None, agent_args=None):
+ stest(layout_str=layout_str, SAgent=SAgent, prob=GymFoodSearchProblem(), agent_args=agent_args, zoom=2, **dargs, fps=1000) # part 3
+
+if __name__ == "__main__":
+ # agent_args = dict(heuristic=manhattanHeuristic,N=30)
+ tricksearchdot(SAgent=BFSAgentYield, agent_args=None)
diff --git a/irlc/lectures/lec03/lecture_03_tricksearch_dfs.py b/irlc/lectures/lec03/lecture_03_tricksearch_dfs.py
new file mode 100644
index 0000000..f3b2ac4
--- /dev/null
+++ b/irlc/lectures/lec03/lecture_03_tricksearch_dfs.py
@@ -0,0 +1,10 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+# from irlc.ex03.pacsearch_agents import GymPositionSearchProblem, manhattanHeuristic, GymCornersProblem, cornersHeuristic, foodHeuristic, GymFoodSearchProblem, GymAnyFoodSearchProblem
+
+from irlc.lectures.chapter4search.yield_version.pacman_yield import DFSAgentYield
+from irlc.lectures.lec03.lecture_03_tricksearch_bfs import tricksearchdot
+
+
+if __name__ == "__main__":
+ # agent_args = dict(heuristic=manhattanHeuristic,N=30)
+ tricksearchdot(SAgent=DFSAgentYield, agent_args=None)
diff --git a/irlc/lectures/lec03/snapshot_base/openaigym.video.0.8068.video000000.meta.json b/irlc/lectures/lec03/snapshot_base/openaigym.video.0.8068.video000000.meta.json
new file mode 100644
index 0000000..5dc734d
--- /dev/null
+++ b/irlc/lectures/lec03/snapshot_base/openaigym.video.0.8068.video000000.meta.json
@@ -0,0 +1 @@
+{"episode_id": 0, "content_type": "video/mp4"}
\ No newline at end of file
diff --git a/irlc/lectures/lec03/snapshot_base/openaigym.video.0.8068.video000000.mp4 b/irlc/lectures/lec03/snapshot_base/openaigym.video.0.8068.video000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17e5e5fbd204f4f1c8bf240b166ab0a318db4744
GIT binary patch
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diff --git a/irlc/lectures/lec04/__init__.py b/irlc/lectures/lec04/__init__.py
new file mode 100644
index 0000000..a56057c
--- /dev/null
+++ b/irlc/lectures/lec04/__init__.py
@@ -0,0 +1 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
diff --git a/irlc/lectures/lec04/lecture_04_car_basic_pid.py b/irlc/lectures/lec04/lecture_04_car_basic_pid.py
new file mode 100644
index 0000000..e364ba1
--- /dev/null
+++ b/irlc/lectures/lec04/lecture_04_car_basic_pid.py
@@ -0,0 +1,12 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc import train
+from irlc.car.car_model import CarEnvironment
+from irlc.ex04.pid_car import PIDCarAgent
+
+if __name__ == "__main__":
+ env = CarEnvironment(noise_scale=0, Tmax=30, max_laps=1, render_mode='human')
+ agent = PIDCarAgent(env, v_target=.2, use_both_x5_x3=False)
+ stats, trajectories = train(env, agent, num_episodes=1, return_trajectory=True)
+ env.close()
+
+ # agent = PIDCarAgent(env, v_target=1, use_both_x5_x3=True) # I recommend lowering v_target to make the problem simpler.
diff --git a/irlc/lectures/lec04/lecture_04_cartpole_A.py b/irlc/lectures/lec04/lecture_04_cartpole_A.py
new file mode 100644
index 0000000..3117d00
--- /dev/null
+++ b/irlc/lectures/lec04/lecture_04_cartpole_A.py
@@ -0,0 +1,9 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc import train
+from irlc.ex04.pid_cartpole import PIDCartpoleAgent, get_offbalance_cart
+
+if __name__ == "__main__":
+ env = get_offbalance_cart(30)
+ agent = PIDCartpoleAgent(env, dt=env.dt, Kp=120, Ki=0, Kd=10, balance_to_x0=False)
+ _, trajectories = train(env, agent, num_episodes=1, reset=False)
+ env.close()
diff --git a/irlc/lectures/lec04/lecture_04_cartpole_B.py b/irlc/lectures/lec04/lecture_04_cartpole_B.py
new file mode 100644
index 0000000..a57e095
--- /dev/null
+++ b/irlc/lectures/lec04/lecture_04_cartpole_B.py
@@ -0,0 +1,14 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc import train
+from irlc.ex04.pid_cartpole import PIDCartpoleAgent, get_offbalance_cart
+
+if __name__ == "__main__":
+ """
+ Second task: We will now also try to bring the cart towards x=0.
+ """
+ env = get_offbalance_cart(30)
+ agent = PIDCartpoleAgent(env, env.dt, ...)
+ # TODO: 1 lines missing.
+ raise NotImplementedError("Define your agent here (including parameters)")
+ _, trajectories = train(env, agent, num_episodes=1, reset=False) # Note reset=False to maintain initial conditions.
+ env.close()
diff --git a/irlc/lectures/lec04/lecture_04_harmonic.py b/irlc/lectures/lec04/lecture_04_harmonic.py
new file mode 100644
index 0000000..7d74099
--- /dev/null
+++ b/irlc/lectures/lec04/lecture_04_harmonic.py
@@ -0,0 +1,14 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc import train
+from irlc.ex04.model_harmonic import HarmonicOscilatorEnvironment
+from irlc import Agent
+import numpy as np
+
+class NullAgent(Agent):
+ def pi(self, x, k, info=None):
+ return np.asarray([0])
+
+if __name__ == "__main__":
+ env = HarmonicOscilatorEnvironment(render_mode='human')
+ train(env, NullAgent(env), num_episodes=1, max_steps=200)
+ env.close()
diff --git a/irlc/lectures/lec04/lecture_04_lunar.py b/irlc/lectures/lec04/lecture_04_lunar.py
new file mode 100644
index 0000000..9f870d7
--- /dev/null
+++ b/irlc/lectures/lec04/lecture_04_lunar.py
@@ -0,0 +1,12 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.ex04.pid_lunar import get_lunar_lander
+import gymnasium
+from irlc import train
+
+if __name__ == "__main__":
+ env = gymnasium.make('LunarLanderContinuous-v3', render_mode='human')
+ env._max_episode_steps = 1000 # We don't want it to time out.
+
+ agent = get_lunar_lander(env)
+ stats, traj = train(env, agent, return_trajectory=True, num_episodes=10)
+ env.close()
diff --git a/irlc/lectures/lec04/lecture_04_pendulum_random.py b/irlc/lectures/lec04/lecture_04_pendulum_random.py
new file mode 100644
index 0000000..58d0843
--- /dev/null
+++ b/irlc/lectures/lec04/lecture_04_pendulum_random.py
@@ -0,0 +1,8 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc import Agent, train
+from irlc.ex04.model_pendulum import GymSinCosPendulumEnvironment
+
+if __name__ == "__main__":
+ env = GymSinCosPendulumEnvironment(Tmax=20, render_mode='human')
+ train(env, Agent(env), num_episodes=1)
+ env.close()
diff --git a/irlc/lectures/lec04/lecture_04_pid_d.py b/irlc/lectures/lec04/lecture_04_pid_d.py
new file mode 100644
index 0000000..8b05ff1
--- /dev/null
+++ b/irlc/lectures/lec04/lecture_04_pid_d.py
@@ -0,0 +1,5 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.lectures.lec04.lecture_04_pid_p import pidplot
+
+if __name__ == "__main__":
+ pidplot(Kp=40, Kd=100, Ki=0)
diff --git a/irlc/lectures/lec04/lecture_04_pid_iA.py b/irlc/lectures/lec04/lecture_04_pid_iA.py
new file mode 100644
index 0000000..3e8ac8b
--- /dev/null
+++ b/irlc/lectures/lec04/lecture_04_pid_iA.py
@@ -0,0 +1,5 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.lectures.lec04.lecture_04_pid_p import pidplot
+
+if __name__ == "__main__":
+ pidplot(Kp=40, Kd=50, Ki=0, slope=2, target=0)
diff --git a/irlc/lectures/lec04/lecture_04_pid_iB.py b/irlc/lectures/lec04/lecture_04_pid_iB.py
new file mode 100644
index 0000000..bc10b3a
--- /dev/null
+++ b/irlc/lectures/lec04/lecture_04_pid_iB.py
@@ -0,0 +1,5 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.lectures.lec04.lecture_04_pid_p import pidplot
+
+if __name__ == "__main__":
+ pidplot(Kp=40, Kd=50, Ki=10, slope=2, target=0)
diff --git a/irlc/lectures/lec04/lecture_04_pid_p.py b/irlc/lectures/lec04/lecture_04_pid_p.py
new file mode 100644
index 0000000..488d5fd
--- /dev/null
+++ b/irlc/lectures/lec04/lecture_04_pid_p.py
@@ -0,0 +1,16 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from irlc.ex04.locomotive import LocomotiveEnvironment
+from irlc.ex04.pid_locomotive_agent import PIDLocomotiveAgent
+from irlc.ex01.agent import train
+
+def pidplot(Kp=40, Kd=0, Ki=0, slope=0, target=0):
+ dt = .04
+ m = 70
+ Tmax=20
+ env = LocomotiveEnvironment(m=m, slope=slope, dt=dt, Tmax=Tmax, render_mode='human')
+ agent = PIDLocomotiveAgent(env, dt=dt, Kp=Kp, Ki=Ki, Kd=Kd, target=0)
+ train(env, agent, num_episodes=1)
+ env.close()
+
+if __name__ == "__main__":
+ pidplot(Kp=40, Kd=0, Ki=0)
diff --git a/irlc/tests/tests_week03.py b/irlc/tests/tests_week03.py
new file mode 100644
index 0000000..403e29a
--- /dev/null
+++ b/irlc/tests/tests_week03.py
@@ -0,0 +1,88 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from unitgrade import Report
+import irlc
+from unitgrade import UTestCase
+from irlc.ex03.kuramoto import KuramotoModel, f
+import sympy as sym
+import numpy as np
+
+class Problem1Kuramoto(UTestCase):
+ """ Test the Kuromoto Osscilator """
+ def test_continious_model(self):
+ cmodel = KuramotoModel()
+ x, u = sym.symbols("x u")
+ expr = cmodel.sym_f([x], [u])
+ # Check the expression has the right type.
+ self.assertIsInstance(expr, list)
+ # Evaluate the expression and check the result in a given point.
+ self.assertEqualC(expr[0].subs([(x, 0.2), (u, 0.93)]))
+
+ def test_f(self):
+ self.assertLinf(f([0.1], [0.4]), tol=1e-6)
+
+
+ def test_RK4(self):
+ from irlc.ex03.kuramoto import rk4_simulate
+
+ cmodel = KuramotoModel()
+ x0 = np.asarray(cmodel.x0_bound().low) # Get the starting state x=0.
+ u = 1.3
+ xs, ts = rk4_simulate(x0, [u], t0=0, tF=20, N=100)
+
+ # xs, us, ts = cmodel.simulate(x0, u_fun=u , t0=0, tF=20)
+ self.assertLinf(ts, tol=1e-6)
+ # self.assertLinf(us, tol=1e-6)
+ self.assertLinf(xs, tol=1e-6)
+
+ # Test the same with a varying function:
+ xs, ts = rk4_simulate(x0, [u+1], t0=0, tF=10, N=50)
+ # xs, us, ts = cmodel.simulate(x0, u_fun=lambda x,t: np.sin(x + u) , t0=0, tF=10)
+ self.assertLinf(ts, tol=1e-6)
+ # self.assertLinf(us, tol=1e-6)
+ self.assertLinf(xs, tol=1e-6)
+
+class Exam5InventoryEvaluation(UTestCase):
+ def test_a_test_expected_items_next_day(self):
+ from irlc.ex03.inventory_evaluation import a_expected_items_next_day
+ self.assertAlmostEqual(a_expected_items_next_day(x=0, u=1), 0.1, places=5)
+
+ def test_b_test_expected_items_next_day(self):
+ from irlc.ex03.inventory_evaluation import b_evaluate_policy
+ pi = self.get_pi()
+ self.assertAlmostEqual(b_evaluate_policy(pi, 1), 2.7, places=5)
+
+ def get_pi(self):
+ from irlc.ex02.inventory import InventoryDPModel
+ model = InventoryDPModel()
+ pi = [{x: 1 if x == 0 else 0 for x in model.S(k)} for k in range(model.N)]
+ return pi
+
+class Exam6Toy2d(UTestCase):
+ def test_rk4_a(self):
+ from irlc.ex03.toy_2d_control import toy_simulation
+ w = toy_simulation(u0=0.4, T=5)
+ self.assertFalse(isinstance(w, np.ndarray), msg="Your toy_simulation function must return a float")
+ self.assertEqual(type(float(w)), float, msg="Your toy_simulation function must return a float")
+ self.assertLinf(w, tol=0.01, msg="Your simulation ended up at the wrong angle")
+
+ def test_rk4_b(self):
+ from irlc.ex03.toy_2d_control import toy_simulation
+ w = toy_simulation(u0=-0.1, T=2)
+ self.assertFalse( isinstance(w, np.ndarray), msg="Your toy_simulation function must return a float")
+ self.assertEqual(type(float(w)), float, msg="Your toy_simulation function must return a float")
+ self.assertLinf(w, tol=0.01, msg="Your simulation ended up at the wrong angle")
+
+
+class Week03Tests(Report): #240 total.
+ title = "Tests for week 03"
+ pack_imports = [irlc]
+ individual_imports = []
+ questions = [
+ (Problem1Kuramoto, 10),
+ (Exam5InventoryEvaluation, 10),
+ (Exam6Toy2d, 10),
+ ]
+
+if __name__ == '__main__':
+ from unitgrade import evaluate_report_student
+ evaluate_report_student(Week03Tests())
diff --git a/irlc/tests/tests_week04.py b/irlc/tests/tests_week04.py
new file mode 100644
index 0000000..b032c0b
--- /dev/null
+++ b/irlc/tests/tests_week04.py
@@ -0,0 +1,131 @@
+# This file may not be shared/redistributed without permission. Please read copyright notice in the git repo. If this file contains other copyright notices disregard this text.
+from unitgrade import Report
+from unitgrade import UTestCase
+import irlc
+from irlc.car.car_model import CarEnvironment
+from irlc.ex04.pid_car import PIDCarAgent
+from irlc import train
+from irlc.ex04.pid_locomotive_agent import LocomotiveEnvironment, PIDLocomotiveAgent
+from irlc.ex03.kuramoto import KuramotoModel, f
+from irlc.ex04.discrete_kuramoto import fk, dfk_dx
+import sympy as sym
+import numpy as np
+
+class Problem1DiscreteKuromoto(UTestCase):
+ """ Test the Kuromoto Osscilator """
+ def test_continious_model(self):
+ cmodel = KuramotoModel()
+ x, u = sym.symbols("x u")
+ expr = cmodel.sym_f([x], [u])
+ # Check the expression has the right type.
+ self.assertIsInstance(expr, list)
+ # Evaluate the expression and check the result in a given point.
+ self.assertEqualC(expr[0].subs([(x, 0.2), (u, 0.93)]))
+
+ def test_f(self):
+ self.assertLinf(f([0.1], [0.4]), tol=1e-6)
+
+ def test_fk(self):
+ self.assertLinf(fk([0.1], [0.4]), tol=1e-6)
+
+ def test_dfk_dx(self):
+ self.assertLinf(dfk_dx([0.1], [0.4]), tol=1e-6)
+
+class Problem3PID(UTestCase):
+ """ PID Control """
+
+ def test_pid_class(self, Kp=40, Ki=0, Kd=0, target=0, x=0):
+ dt = 0.08
+ from irlc.ex04.pid import PID
+ pid = PID(Kp=Kp, Kd=Kd, Ki=Ki, target=target, dt=0.8)
+ u = pid.pi(x)
+ self.assertL2(u, tol=1e-4)
+
+ def test_pid_Kp(self):
+ self.test_pid_class(40, 0, 0, 0, 1)
+ self.test_pid_class(10, 0, 0, 0, 2)
+
+
+ def test_pid_target(self):
+ self.test_pid_class(40, 0, 0, 3, 1)
+ self.test_pid_class(20, 0, 0, 0, 2)
+
+
+ def test_pid_all(self):
+ self.test_pid_class(4, 3, 8, 1, 1)
+ self.test_pid_class(40, 10, 3, 0, 2)
+
+
+class Problem4PIDAgent(UTestCase):
+ """ PID Control """
+
+ def pid_locomotive(self, Kp=40, Ki=0, Kd=0, slope=0, target=0):
+ dt = 0.08
+ env = LocomotiveEnvironment(m=10, slope=slope, dt=dt, Tmax=5)
+ agent = PIDLocomotiveAgent(env, dt=dt, Kp=Kp, Ki=Ki, Kd=Kd, target=target)
+ stats, traj = train(env, agent, return_trajectory=True, verbose=False)
+ self.assertL2(traj[0].state, tol=1e-4)
+
+ def test_locomotive_flat(self):
+ self.pid_locomotive()
+
+ def test_locomotive_Kd(self):
+ """ Test the derivative term """
+ self.pid_locomotive(Kd = 10)
+
+ def test_locomotive_Ki(self):
+ """ Test the integral term """
+ self.pid_locomotive(Kd = 10, Ki=5, slope=5)
+
+
+ def test_locomotive_all(self):
+ """ Test all terms """
+ self.pid_locomotive(Kp=35, Kd = 10, Ki=5, slope=5, target=1)
+
+
+
+
+class Problem7PIDCar(UTestCase):
+ lt = -1
+
+ @classmethod
+ def setUpClass(cls) -> None:
+ env = CarEnvironment(noise_scale=0, Tmax=80, max_laps=2)
+ agent = PIDCarAgent(env, v_target=1.0)
+ stats, trajectories = train(env, agent, num_episodes=1, return_trajectory=True)
+ d = trajectories[0].state[:, 4]
+ lt = len(d) * env.dt / 2
+ print("Lap time", lt)
+ cls.lt = lt
+
+ def test_below_60(self):
+ """ Testing if lap time is < 60 """
+ self.assertTrue(0 < self.__class__.lt < 60)
+
+ def test_below_40(self):
+ """ Testing if lap time is < 60 """
+ self.assertTrue(0 < self.__class__.lt < 40)
+
+
+ def test_below_30(self):
+ """ Testing if lap time is < 60 """
+ self.assertTrue(0 < self.__class__.lt < 30)
+
+ def test_below_22(self):
+ """ Testing if lap time is < 22 """
+ self.assertTrue(0 < self.__class__.lt < 22)
+
+class Week04Tests(Report):
+ title = "Tests for week 04"
+ pack_imports = [irlc]
+ individual_imports = []
+ questions = [
+ (Problem1DiscreteKuromoto, 10),
+ (Problem3PID, 10),
+ (Problem4PIDAgent, 10), # ok
+ (Problem7PIDCar, 10), # ok
+ ]
+
+if __name__ == '__main__':
+ from unitgrade import evaluate_report_student
+ evaluate_report_student(Week04Tests())
diff --git a/irlc/tests/unitgrade_data/Exam5InventoryEvaluation.pkl b/irlc/tests/unitgrade_data/Exam5InventoryEvaluation.pkl
index 39ab00d05f08228855c1778e9433e4c61a329a33..7ea10ed52c9791c2377088198836e6db33a6458b 100644
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diff --git a/irlc/tests/unitgrade_data/Exam6Toy2d.pkl b/irlc/tests/unitgrade_data/Exam6Toy2d.pkl
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diff --git a/irlc/tests/unitgrade_data/Problem1BobsFriend.pkl b/irlc/tests/unitgrade_data/Problem1BobsFriend.pkl
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diff --git a/irlc/tests/unitgrade_data/Problem2BobsPolicy.pkl b/irlc/tests/unitgrade_data/Problem2BobsPolicy.pkl
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J0}zzz0RR*u5$*s0
delta 53
zcmX@8a!_T0H4~@9M%$e%%)7p&OwQqy+$_Wz&cb{!LuYdiXC@2N=LMUu^Cq%z?)Y_p
I0SHR<00UMMg#Z8m
diff --git a/irlc/tests/unitgrade_data/Problem5PacmanHardcoded.pkl b/irlc/tests/unitgrade_data/Problem5PacmanHardcoded.pkl
index 322ff5b7a38f90b4446cd00c456f4ce713784afc..7bd2c4e13a274e17171d07440189adaaaa0dbb7e 100644
GIT binary patch
delta 18
Ycmb=eo#4!vFww=3L+k(p5R~cx05$dmwg3PC
delta 18
Ycmb=eo#4!PV4{m5hlc|L5R~cx0669Z$N&HU
diff --git a/irlc/tests/unitgrade_data/Problem6ChessTournament.pkl b/irlc/tests/unitgrade_data/Problem6ChessTournament.pkl
index 90c7b19e1b43df06497155d15b787aa102807bcd..2e417a7c35f1291647008d44d675e85d118ee917 100644
GIT binary patch
delta 20
bcmX@gc$9I1GvkAaE|nZzmm3%u7)td3Qn&{f
delta 20
ccmX@gc$9I1Gvk7ZE|na2ZZ$A4FqG;608%*zFaQ7m
diff --git a/irlc/tests/unitgrade_data/Problem7PIDCar.pkl b/irlc/tests/unitgrade_data/Problem7PIDCar.pkl
index 72d293c30b4036e1d9a4b5d49488d85c7e7b3178..c1d31f985ab53b13c82af6a1008087d60e1ef895 100644
GIT binary patch
delta 35
ocmZ3?yqI}{C5wt_+k}a>aZC>zCe96JygKpYO3sT6U{I<D0O*<w7XSbN
delta 37
qcmZ3?yqI}{C5y%lg^r1~ag28-eiWU!(Vp?j#E&aEFED^XsU83k9t~gs
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