mirror of
https://gitlab.rlp.net/mobitar/ReCo.jl.git
synced 2024-09-19 19:01:17 +00:00
Added norm2d and sq_norm2d
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Mo8it
parent
bb3246a1e7
commit
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6 changed files with 59 additions and 51 deletions
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@ -1,6 +1,6 @@
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module Geometry
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export angle2
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export angle2, norm2d, sq_norm2d
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using StaticArrays: SVector
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@ -18,4 +18,7 @@ function angle2(a::SVector{2,Float64}, b::SVector{2,Float64})
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return rem2pi(θ, RoundNearest)
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end
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sq_norm2d(v::SVector{2,Float64}) = v[1]^2 + v[2]^2
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norm2d(v::SVector{2,Float64}) = sqrt(sq_norm2d(v))
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end # module
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@ -64,7 +64,7 @@ function are_overlapping(
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r⃗₁₂ = minimum_image(r⃗₁₂, half_box_len)
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distance² = r⃗₁₂[1]^2 + r⃗₁₂[2]^2
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distance² = sq_norm2d(r⃗₁₂)
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overlapping = distance² < overlapping_r²
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@ -1,7 +1,7 @@
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export LocalCOMEnv
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struct LocalCOMEnv <: Env
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params::EnvParams
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shared::EnvSharedProps
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distance_state_space::Vector{Interval}
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direction_angle_state_space::Vector{Interval}
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@ -35,31 +35,35 @@ struct LocalCOMEnv <: Env
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end
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# Last state is when no particle is in the skin radius
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params = EnvParams(n_states, state_space)
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shared = EnvSharedProps(n_states, state_space)
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return new(params, distance_state_space, direction_angle_state_space, max_distance)
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return new(shared, distance_state_space, direction_angle_state_space, max_distance)
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end
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end
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struct LocalCOMEnvHelper <: EnvHelper
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params::EnvHelperParams
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shared::EnvHelperSharedProps
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vec_to_neighbour_sums::Vector{SVector{2,Float64}}
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n_neighbours::Vector{Int64}
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sq_norm2d_vec_to_local_center_of_mass::Vector{Float64}
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function LocalCOMEnvHelper(params::EnvHelperParams)
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function LocalCOMEnvHelper(shared::EnvHelperSharedProps)
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return new(
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params, fill(SVector(0.0, 0.0), params.n_particles), fill(0, params.n_particles)
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shared,
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fill(SVector(0.0, 0.0), shared.n_particles),
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fill(0, shared.n_particles),
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zeros(shared.n_particles),
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)
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end
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end
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function gen_env_helper(::LocalCOMEnv, env_helper_params::EnvHelperParams)
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function gen_env_helper(::LocalCOMEnv, env_helper_params::EnvHelperSharedProps)
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return LocalCOMEnvHelper(env_helper_params)
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end
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function pre_integration_hook(env_helper::LocalCOMEnvHelper)
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@simd for id in 1:(env_helper.params.n_particles)
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@simd for id in 1:(env_helper.shared.n_particles)
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env_helper.vec_to_neighbour_sums[id] = SVector(0.0, 0.0)
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env_helper.n_neighbours[id] = 0
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end
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@ -80,26 +84,28 @@ function state_update_helper_hook(
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end
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function state_update_hook(env_helper::LocalCOMEnvHelper, particles::Vector{Particle})
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n_particles = env_helper.params.n_particles
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n_particles = env_helper.shared.n_particles
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@turbo for id in 1:(n_particles)
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env_helper.params.old_states_ind[id] = env_helper.params.states_ind[id]
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env_helper.shared.old_states_ind[id] = env_helper.shared.states_ind[id]
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end
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env = env_helper.params.env
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env = env_helper.shared.env
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for id in 1:n_particles
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n_neighbours = env_helper.n_neighbours[id]
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if n_neighbours == 0
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state_ind = env.params.n_states
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state_ind = env.shared.n_states
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else
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vec_to_local_center_of_mass =
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env_helper.vec_to_neighbour_sums[id] / n_neighbours
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distance = sqrt(
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vec_to_local_center_of_mass[1]^2 + vec_to_local_center_of_mass[2]^2
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)
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sq_norm2d_vec_to_local_center_of_mass = sq_norm2d(vec_to_local_center_of_mass)
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env_helper.sq_norm2d_vec_to_local_center_of_mass[id] =
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sq_norm2d_vec_to_local_center_of_mass
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distance = sqrt(sq_norm2d_vec_to_local_center_of_mass)
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distance_state = find_state_interval(distance, env.distance_state_space)
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@ -112,10 +118,10 @@ function state_update_hook(env_helper::LocalCOMEnvHelper, particles::Vector{Part
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)
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state = SVector{2,Interval}(distance_state, direction_angle_state)
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state_ind = find_state_ind(state, env.params.state_space)
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state_ind = find_state_ind(state, env.shared.state_space)
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end
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env_helper.params.states_ind[id] = state_ind
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env_helper.shared.states_ind[id] = state_ind
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end
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return nothing
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@ -124,16 +130,14 @@ end
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function update_reward!(env::LocalCOMEnv, env_helper::LocalCOMEnvHelper, particle::Particle)
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id = particle.id
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normalization = (env.max_distance * env_helper.params.n_particles)
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normalization = (env.max_distance * env_helper.shared.n_particles)
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n_neighbours = env_helper.n_neighbours[id]
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if n_neighbours == 0
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env.params.reward = -(env.max_distance^2) / normalization
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env.shared.reward = -(env.max_distance^2) / normalization
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else
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vec_to_local_center_of_mass = env_helper.vec_to_neighbour_sums[id] / n_neighbours # TODO: Reuse vec_to_local_center_of_mass from state_update_hook
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env.params.reward =
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-(vec_to_local_center_of_mass[1]^2 + vec_to_local_center_of_mass[2]^2) /
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normalization
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env.shared.reward =
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-(env_helper.sq_norm2d_vec_to_local_center_of_mass[id]) / normalization # TODO: Add shape term
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end
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return nothing
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47
src/RL/RL.jl
47
src/RL/RL.jl
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@ -12,7 +12,8 @@ using LoopVectorization: @turbo
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using Random: Random
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using ProgressMeter: @showprogress
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using ..ReCo: ReCo, Particle, angle2, Shape, DEFAULT_SKIN_TO_INTERACTION_R_RATIO
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using ..ReCo:
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ReCo, Particle, angle2, norm2d, sq_norm2d, Shape, DEFAULT_SKIN_TO_INTERACTION_R_RATIO
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const INITIAL_STATE_IND = 1
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const INITIAL_REWARD = 0.0
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@ -69,7 +70,7 @@ end
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abstract type Env <: AbstractEnv end
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mutable struct EnvParams{state_dims}
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mutable struct EnvSharedProps{state_dims}
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n_actions::Int64
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action_space::Vector{SVector{2,Float64}}
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action_ind_space::OneTo{Int64}
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@ -82,7 +83,7 @@ mutable struct EnvParams{state_dims}
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reward::Float64
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terminated::Bool
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function EnvParams(
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function EnvSharedProps(
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n_states::Int64,
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state_space::Vector{SVector{state_dims,Interval}};
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n_v_actions::Int64=2,
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@ -129,22 +130,22 @@ mutable struct EnvParams{state_dims}
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end
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function reset!(env::Env)
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env.params.terminated = false
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env.shared.terminated = false
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return nothing
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end
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RLBase.state_space(env::Env) = env.params.state_ind_space
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RLBase.state_space(env::Env) = env.shared.state_ind_space
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RLBase.state(env::Env) = env.params.state_ind
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RLBase.state(env::Env) = env.shared.state_ind
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RLBase.action_space(env::Env) = env.params.action_ind_space
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RLBase.action_space(env::Env) = env.shared.action_ind_space
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RLBase.reward(env::Env) = env.params.reward
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RLBase.reward(env::Env) = env.shared.reward
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RLBase.is_terminated(env::Env) = env.params.terminated
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RLBase.is_terminated(env::Env) = env.shared.terminated
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struct EnvHelperParams{H<:AbstractHook}
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struct EnvHelperSharedProps{H<:AbstractHook}
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env::Env
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agent::Agent
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hook::H
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@ -161,7 +162,7 @@ struct EnvHelperParams{H<:AbstractHook}
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actions::Vector{SVector{2,Float64}}
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actions_ind::Vector{Int64}
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function EnvHelperParams(
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function EnvHelperSharedProps(
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env::Env,
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agent::Agent,
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hook::H,
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@ -186,7 +187,7 @@ end
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abstract type EnvHelper end
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function gen_env_helper(::Env, env_helper_params::EnvHelperParams)
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function gen_env_helper(::Env, env_helper_params::EnvHelperSharedProps)
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return method_not_implemented()
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end
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@ -217,7 +218,7 @@ function state_update_hook(::EnvHelper, particles::Vector{Particle})
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end
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function get_env_agent_hook(env_helper::EnvHelper)
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return (env_helper.params.env, env_helper.params.agent, env_helper.params.hook)
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return (env_helper.shared.env, env_helper.shared.agent, env_helper.shared.hook)
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end
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function update_reward!(::Env, ::EnvHelper, particle::Particle)
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@ -233,16 +234,16 @@ function update_table_and_actions_hook(
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if !first_integration_step
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# Old state
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env.params.state_ind = env_helper.params.old_states_ind[id]
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env.shared.state_ind = env_helper.shared.old_states_ind[id]
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action_ind = env_helper.params.actions_ind[id]
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action_ind = env_helper.shared.actions_ind[id]
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# Pre act
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agent(PRE_ACT_STAGE, env, action_ind)
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hook(PRE_ACT_STAGE, agent, env, action_ind)
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# Update to current state
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env.params.state_ind = env_helper.params.states_ind[id]
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env.shared.state_ind = env_helper.shared.states_ind[id]
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# Update reward
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update_reward!(env, env_helper, particle)
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@ -254,10 +255,10 @@ function update_table_and_actions_hook(
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# Update action
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action_ind = agent(env)
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action = env.params.action_space[action_ind]
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action = env.shared.action_space[action_ind]
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env_helper.params.actions[id] = action
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env_helper.params.actions_ind[id] = action_ind
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env_helper.shared.actions[id] = action
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env_helper.shared.actions_ind[id] = action_ind
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return nothing
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end
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@ -268,7 +269,7 @@ function act_hook(
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env_helper::EnvHelper, particle::Particle, δt::Float64, si::Float64, co::Float64
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)
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# Apply action
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action = env_helper.params.actions[particle.id]
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action = env_helper.shared.actions[particle.id]
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vδt = action[1] * δt
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particle.tmp_c += SVector(vδt * co, vδt * si)
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@ -333,13 +334,13 @@ function run_rl(;
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env = EnvType(sim_consts)
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agent = gen_agent(env.params.n_states, env.params.n_actions, ϵ_stable)
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agent = gen_agent(env.shared.n_states, env.shared.n_actions, ϵ_stable)
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n_steps_before_actions_update = round(Int64, update_actions_at / sim_consts.δt)
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hook = TotalRewardPerEpisode()
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env_helper_params = EnvHelperParams(
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env_helper_params = EnvHelperSharedProps(
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env,
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agent,
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hook,
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@ -374,7 +375,7 @@ function run_rl(;
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env_helper=env_helper,
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)
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env.params.terminated = true
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env.shared.terminated = true
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# Post episode
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hook(POST_EPISODE_STAGE, agent, env)
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@ -1,7 +1,7 @@
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using CairoMakie, LaTeXStrings
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using LoopVectorization: @turbo
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using ReCo: minimum_image
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using ReCo: minimum_image, norm2d
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function plot_g(radius, g, variables)
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fig = Figure()
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@ -44,7 +44,7 @@ function pair_correlation(sol, variables)
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r⃗₁₂ = minimum_image(r⃗₁₂, variables.half_box_len)
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distance = sqrt(r⃗₁₂[1]^2 + r⃗₁₂[2]^2)
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distance = norm2d(r⃗₁₂)
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if (distance >= r) && (distance <= r + dr)
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N_g[i, r_ind] += 1
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@ -92,7 +92,7 @@ Base.wait(::Nothing) = nothing
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gen_run_additional_hooks(::Nothing, args...) = false
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function gen_run_additional_hooks(env_helper::RL.EnvHelper, integration_step::Int64)
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return (integration_step % env_helper.params.n_steps_before_actions_update == 0) ||
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return (integration_step % env_helper.shared.n_steps_before_actions_update == 0) ||
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(integration_step == 1)
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end
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