Added compass for circle

src/RL.jl

@@ -2,6 +2,8 @@ module RL
 
 export run_rl
 
+using Base: OneTo
+
 using ReinforcementLearning
 using Flux: InvDecay
 using Intervals
@@ -13,34 +15,57 @@ using ProgressMeter: @showprogress
 using ..ReCo: ReCo, Particle, angle2, center_of_mass
 
 const INITIAL_REWARD = 0.0
+const INITIAL_STATE_IND = 1
+
+function angle_state_space(n_angle_states::Int64)
+    angle_range = range(; start=-π, stop=π, length=n_angle_states + 1)
+
+    angle_state_space = Vector{Interval}(undef, n_angle_states)
+
+    @simd for i in 1:n_angle_states
+        if i == 1
+            bound = Closed
+        else
+            bound = Open
+        end
+
+        angle_state_space[i] = Interval{Float64,bound,Closed}(
+            angle_range[i], angle_range[i + 1]
+        )
+    end
+
+    return angle_state_space
+end
 
 mutable struct Env <: AbstractEnv
     n_actions::Int64
     action_space::Vector{SVector{2,Float64}}
-    action_ind_space::Vector{Int64}
+    action_ind_space::OneTo{Int64}
 
     distance_state_space::Vector{Interval}
-    angle_state_space::Vector{Interval}
+    direction_angle_state_space::Vector{Interval}
+    position_angle_state_space::Vector{Interval}
 
     n_states::Int64
-    state_space::Vector{SVector{2,Interval}}
+    state_space::Vector{SVector{3,Interval}}
-    state_ind_space::Vector{Int64}
+    state_ind_space::OneTo{Int64}
     state_ind::Int64
 
     reward::Float64
     terminated::Bool
 
-    center_of_mass::SVector{2,Float64}
+    center_of_mass::SVector{2,Float64} # TODO: Use or remove
 
-    function Env(
+    function Env(;
-        max_distance::Float64;
+        max_distance::Float64,
         min_distance::Float64=0.0,
-        n_v_actions::Int64=3,
+        n_v_actions::Int64=2,
         n_ω_actions::Int64=3,
         max_v::Float64=40.0,
         max_ω::Float64=π / 2,
-        n_distance_states::Int64=3,
+        n_distance_states::Int64=4,
-        n_angle_states::Int64=4,
+        n_direction_angle_states::Int64=3,
+        n_position_angle_states::Int64=4,
     )
         @assert min_distance >= 0.0
         @assert max_distance > min_distance
@@ -48,9 +73,12 @@ mutable struct Env <: AbstractEnv
         @assert n_ω_actions > 1
         @assert max_v > 0
         @assert max_ω > 0
+        @assert n_distance_states > 1
+        @assert n_direction_angle_states > 1
+        @assert n_position_angle_states > 1
 
-        v_action_space = 0.0:(max_v / (n_v_actions - 1)):max_v
+        v_action_space = range(; start=0.0, stop=max_v, length=n_v_actions)
-        ω_action_space = (-max_ω):(2 * max_ω / (n_ω_actions - 1)):max_ω
+        ω_action_space = range(; start=-max_ω, stop=max_ω, length=n_ω_actions)
 
         n_actions = n_v_actions * n_ω_actions
 
@@ -64,10 +92,11 @@ mutable struct Env <: AbstractEnv
             end
         end
 
-        action_ind_space = collect(1:n_actions)
+        action_ind_space = OneTo(n_actions)
 
-        distance_range =
+        distance_range = range(;
-            min_distance:((max_distance - min_distance) / n_distance_states):max_distance
+            start=min_distance, stop=max_distance, length=n_distance_states + 1
+        )
 
         distance_state_space = Vector{Interval}(undef, n_distance_states)
 
@@ -83,50 +112,38 @@ mutable struct Env <: AbstractEnv
             )
         end
 
-        angle_range = (-π):(2 * π / n_angle_states):π
+        direction_angle_state_space = angle_state_space(n_direction_angle_states)
+        position_angle_state_space = angle_state_space(n_position_angle_states)
 
-        angle_state_space = Vector{Interval}(undef, n_angle_states)
+        n_states = n_distance_states * n_direction_angle_states * n_position_angle_states
 
-        @simd for i in 1:n_angle_states
+        state_space = Vector{SVector{3,Interval}}(undef, n_states)
-            if i == 1
-                bound = Closed
-            else
-                bound = Open
-            end
-
-            angle_state_space[i] = Interval{Float64,bound,Closed}(
-                angle_range[i], angle_range[i + 1]
-            )
-        end
-
-        n_states = n_distance_states * n_angle_states + 1
-
-        state_space = Vector{SVector{2,Interval}}(undef, n_states - 1)
 
         ind = 1
         for distance_state in distance_state_space
-            for angle_state in angle_state_space
+            for direction_angle_state in direction_angle_state_space
-                state_space[ind] = SVector(distance_state, angle_state)
+                for position_angle_state in position_angle_state_space
-                ind += 1
+                    state_space[ind] = SVector(
+                        distance_state, direction_angle_state, position_angle_state
+                    )
+                    ind += 1
+                end
             end
         end
-        # Last state is SVector(nothing, nothing)
 
-        state_ind_space = collect(1:n_states)
+        state_ind_space = OneTo(n_states)
-
-        # initial_state = SVector(nothing, nothing)
-        initial_state_ind = n_states
 
         return new(
             n_actions,
             action_space,
             action_ind_space,
             distance_state_space,
-            angle_state_space,
+            direction_angle_state_space,
+            position_angle_state_space,
             n_states,
             state_space,
             state_ind_space,
-            initial_state_ind,
+            INITIAL_STATE_IND,
             INITIAL_REWARD,
             false,
             SVector(0.0, 0.0),
@@ -171,9 +188,6 @@ struct Params{H<:AbstractHook}
     half_box_len::Float64
     max_elliptic_distance::Float64
 
-    local_centers_of_mass::Vector{SVector{2,Float64}}
-    updated_local_center_of_mass::Vector{Bool}
-
     function Params(
         env::Env,
         agent::Agent,
@@ -200,37 +214,32 @@ struct Params{H<:AbstractHook}
             n_particles,
             half_box_len,
             max_elliptic_distance,
-            fill(SVector(0.0, 0.0), n_particles),
-            falses(n_particles),
         )
     end
 end
 
 function pre_integration_hook(rl_params::Params)
-    @simd for id in 1:(rl_params.n_particles)
-        rl_params.local_centers_of_mass[id] = SVector(0.0, 0.0)
-        rl_params.updated_local_center_of_mass[id] = false
-    end
-
     return nothing
 end
 
 function state_update_helper_hook(
     rl_params::Params, id1::Int64, id2::Int64, r⃗₁₂::SVector{2,Float64}
 )
-    rl_params.local_centers_of_mass[id1] += r⃗₁₂
-    rl_params.local_centers_of_mass[id2] -= r⃗₁₂
-
-    rl_params.updated_local_center_of_mass[id1] = true
-    rl_params.updated_local_center_of_mass[id2] = true
-
     return nothing
 end
 
-function get_state_ind(state::S, state_space::Vector{S}) where {S<:SVector{2,Interval}}
+function find_state_ind(state::S, state_space::Vector{S}) where {S<:SVector{3,Interval}}
     return findfirst(x -> x == state, state_space)
 end
 
+function find_state_interval(value::Float64, state_space::Vector{Interval})::Interval
+    for state in state_space
+        if value in state
+            return state
+        end
+    end
+end
+
 function state_update_hook(rl_params::Params, particles::Vector{Particle})
     @turbo for id in 1:(rl_params.n_particles)
         rl_params.old_states_ind[id] = rl_params.states_ind[id]
@@ -238,39 +247,29 @@ function state_update_hook(rl_params::Params, particles::Vector{Particle})
 
     env = rl_params.env
 
-    env_distance_state = env.distance_state_space[1]
-    env_angle_state = env.angle_state_space[1]
-    state_ind = 0
-
     for id in 1:(rl_params.n_particles)
-        if !rl_params.updated_local_center_of_mass[id]
+        particle = particles[id]
-            state_ind = env.n_states
-        else
-            local_center_of_mass = rl_params.local_centers_of_mass[id]
 
-            distance = sqrt(local_center_of_mass[1]^2 + local_center_of_mass[2]^2)
+        distance = sqrt(particle.c[1]^2 + particle.c[2]^2)
 
-            for distance_state in env.distance_state_space
+        distance_state = find_state_interval(distance, env.distance_state_space)
-                if distance in distance_state
-                    env_distance_state = distance_state
-                    break
-                end
-            end
 
-            si, co = sincos(particles[id].φ)
+        si, co = sincos(particles[id].φ)
 
-            angle = angle2(SVector(co, si), local_center_of_mass)
+        direction_angle = angle2(SVector(co, si), -particle.c)
+        position_angle = atan(particle.c[2], particle.c[1])
 
-            for angle_state in env.angle_state_space
+        direction_angle_state = find_state_interval(
-                if angle in angle_state
+            direction_angle, env.direction_angle_state_space
-                    env_angle_state = angle_state
+        )
-                    break
+        position_angle_state = find_state_interval(
-                end
+            position_angle, env.position_angle_state_space
-            end
+        )
 
-            state = SVector{2,Interval}(env_distance_state, env_angle_state)
+        state = SVector{3,Interval}(
-            state_ind = get_state_ind(state, env.state_space)
+            distance_state, direction_angle_state, position_angle_state
-        end
+        )
+        state_ind = find_state_ind(state, env.state_space)
 
         rl_params.states_ind[id] = state_ind
     end
@@ -284,6 +283,14 @@ function get_env_agent_hook(rl_params::Params)
     return (rl_params.env, rl_params.agent, rl_params.hook)
 end
 
+function update_reward!(env::Env, rl_params::Params, particle::Particle)
+    env.reward =
+        -(particle.c[1]^2 + particle.c[2]^2) /
+        (rl_params.max_elliptic_distance^2 * rl_params.n_particles)
+
+    return nothing
+end
+
 function update_table_and_actions_hook(
     rl_params::Params, particle::Particle, first_integration_step::Bool
 )
@@ -305,13 +312,7 @@ function update_table_and_actions_hook(
         env.state_ind = rl_params.states_ind[id]
 
         # Update reward
-        vec_to_center_of_mass = ReCo.minimum_image(
+        update_reward!(env, rl_params, particle)
-            particle.c - env.center_of_mass, rl_params.half_box_len
-        )
-
-        env.reward =
-            -(vec_to_center_of_mass[1]^2 + vec_to_center_of_mass[2]^2) /
-            rl_params.max_elliptic_distance / rl_params.n_particles
 
         # Post act
         agent(POST_ACT_STAGE, env)
@@ -343,14 +344,24 @@ function act_hook(
     return nothing
 end
 
-function gen_agent(n_states::Int64, n_actions::Int64, ϵ::Float64)
+function gen_agent(n_states::Int64, n_actions::Int64, ϵ_stable::Float64)
+    # TODO: Optimize warmup and decay
+    warmup_steps = 200_000
+    decay_steps = 1_000_000
+
     policy = QBasedPolicy(;
         learner=MonteCarloLearner(;
             approximator=TabularQApproximator(;
                 n_state=n_states, n_action=n_actions, opt=InvDecay(1.0)
             ),
         ),
-        explorer=EpsilonGreedyExplorer(ϵ),
+        explorer=EpsilonGreedyExplorer(;
+            kind=:linear,
+            ϵ_init=1.0,
+            ϵ_stable=ϵ_stable,
+            warmup_steps=warmup_steps,
+            decay_steps=decay_steps,
+        ),
     )
 
     return Agent(; policy=policy, trajectory=VectorSARTTrajectory())
@@ -363,7 +374,7 @@ function run_rl(;
     update_actions_at::Float64=0.1,
     n_particles::Int64=100,
     seed::Int64=42,
-    ϵ::Float64=0.01,
+    ϵ_stable::Float64=0.0001,
     parent_dir::String="",
 )
     @assert 0.0 <= goal_shape_ratio <= 1.0
@@ -371,19 +382,19 @@ function run_rl(;
     @assert episode_duration > 0
     @assert update_actions_at in 0.001:0.001:episode_duration
     @assert n_particles > 0
-    @assert 0.0 < ϵ < 1.0
+    @assert 0.0 < ϵ_stable < 1.0
 
     # Setup
     Random.seed!(seed)
 
     sim_consts = ReCo.gen_sim_consts(
-        n_particles, 0.0; skin_to_interaction_r_ratio=1.8, packing_ratio=0.15
+        n_particles, 0.0; skin_to_interaction_r_ratio=1.5, packing_ratio=0.22
     )
     n_particles = sim_consts.n_particles
 
-    env = Env(sim_consts.skin_r)
+    env = Env(; max_distance=sqrt(2) * sim_consts.half_box_len)
 
-    agent = gen_agent(env.n_states, env.n_actions, ϵ)
+    agent = gen_agent(env.n_states, env.n_actions, ϵ_stable)
 
     n_steps_before_actions_update = round(Int64, update_actions_at / sim_consts.δt)
 
@@ -426,7 +437,9 @@ function run_rl(;
         hook(POST_EPISODE_STAGE, agent, env)
         agent(POST_EPISODE_STAGE, env)
 
+        # TODO: Replace with live plot
         display(hook.rewards)
+        display(agent.policy.explorer.step)
     end
 
     # Post experiment