agent_zoo/RoboschoolPong_v0_2017may2.py (161 lines of code) (raw):
import gym, roboschool, sys
import numpy as np
def relu(x):
return np.maximum(x, 0)
class SmallReactivePolicy:
"Simple multi-layer perceptron policy, no internal state"
def __init__(self, ob_space, ac_space):
assert weights_dense1_w.shape == (ob_space.shape[0], 64)
assert weights_dense2_w.shape == (64, 32)
assert weights_final_w.shape == (32, ac_space.shape[0])
def act(self, ob):
x = ob
x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
x = np.dot(x, weights_final_w) + weights_final_b
return x
def demo_run():
env = gym.make("RoboschoolPong-v1")
if len(sys.argv)==3: env.unwrapped.multiplayer(env, sys.argv[1], player_n=int(sys.argv[2]))
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:
frame = 0
score = 0
restart_delay = 0
obs = env.reset()
while 1:
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
still_open = env.render("human")
if still_open==False:
return
if not done: continue
if restart_delay==0:
print("score=%0.2f in %i frames" % (score, frame))
if still_open!=True: # not True in multiplayer or non-Roboschool environment
break
restart_delay = 60*2 # 2 sec at 60 fps
restart_delay -= 1
if restart_delay==0: break
weights_dense1_w = np.array([
[ +0.4231, -0.1260, -0.4414, -0.4028, -0.1991, -0.5320, -0.2615, -0.5119, -0.6858, +0.0253, +0.2646, +0.7722, +0.0711, -0.0822, +0.0709, +0.1407, +0.1546, +0.0755, +0.0522, +0.1687, +0.1017, -0.2217, +0.0180, -0.5547, +0.5731, +0.4167, -0.0525, +0.1758, +0.0647, +0.0541, -0.0524, +0.1389, +0.2171, -0.0666, +0.0451, +0.1458, -0.1149, -0.1684, +0.4064, -0.6432, -0.1740, -0.0011, +0.5321, +0.1257, -0.2954, +0.2497, +0.1504, -0.0838, -0.1513, +0.1727, -0.0214, -0.2173, -0.4360, -0.0156, -0.2355, +0.1505, +0.1588, -0.3765, -0.0768, +0.2158, -0.0798, +0.2429, +0.5058, +0.1144],
[ +0.2898, -0.3957, +0.1187, +0.4169, -0.0602, -0.2780, -0.3090, +0.2115, +0.1666, -0.1594, -0.2255, -0.0039, -0.4512, +0.2020, -0.3627, -0.4204, +0.5935, +0.1515, +0.0370, -0.1580, +0.1815, +0.2672, +0.3136, +0.0487, +0.0738, +0.1940, +0.6009, +0.2707, +0.3643, +0.1616, +0.4710, +0.6505, +0.4301, -0.2719, +0.1092, +0.0855, -0.4694, -0.7201, -0.1967, +0.1674, +0.2831, -0.0496, -0.3852, -0.9972, -0.0093, -0.0858, +0.1316, +0.5199, -0.1840, +0.0277, -0.0846, +0.1313, -0.1912, -0.7514, +0.4413, +0.2014, +0.3816, -0.2621, -0.6938, -0.1576, -0.4821, -0.3766, -0.4559, +0.2470],
[ +0.1057, -0.1922, +0.8866, -0.4590, -0.1751, +0.2700, +0.3241, +0.1508, -0.4771, -0.4793, +0.1726, -0.1830, +0.7265, -0.1520, +0.6837, +0.9429, +0.0347, +0.6212, -0.4343, -0.8756, -0.3924, -0.0987, -1.0836, -0.7286, -0.3353, +0.3667, -0.4509, -0.7713, +0.5258, +0.0183, -0.1579, -0.0090, +0.3378, -0.7528, +0.6440, +0.9249, -0.2207, -0.4928, -0.5111, +0.5788, +0.0227, +0.7035, +0.1093, +0.0405, +0.3430, +0.3313, +0.5169, +0.8728, -0.5773, +0.0787, -0.9406, -0.0910, +0.0091, -0.0641, -0.5051, +0.4231, +0.6051, -0.4749, +0.4885, -0.0354, +1.0120, -0.0655, +0.0290, -0.5385],
[ -0.6339, -0.1613, -0.6777, +0.0997, -0.1740, -0.3997, -0.0587, +0.1077, -0.7837, -0.1567, -0.1798, -0.0474, +0.1445, +0.0343, -0.5656, +0.1777, +0.3324, -0.4490, +0.1424, +0.1270, -0.0964, -0.2619, +0.1567, -0.1805, -0.2796, +0.1709, -0.4196, +0.0559, +0.4723, +0.6496, -0.6426, +0.4161, +0.0443, +0.1663, -0.1739, -0.0919, +0.0691, -0.5813, -0.2664, +0.2284, +0.1161, -0.2669, +0.1793, -0.0127, +0.0076, -0.2221, +0.1606, -0.2511, -0.2395, +0.0212, +0.0347, -0.4155, +0.3239, -0.0506, -0.4540, -0.3164, +0.4469, -0.2900, -0.2483, -0.2870, -0.0837, +0.0716, +0.3843, +0.0890],
[ +0.4428, +0.0931, -0.0404, +0.2289, -0.0384, +0.5723, +0.3159, -0.3465, +0.0899, +0.1699, +0.1247, +0.1932, +0.1974, -0.2964, -0.2977, -0.0073, -0.3640, -0.2491, +0.0655, +0.2312, -0.3846, +0.0139, +0.0583, +0.2344, +0.0454, -0.5522, -0.0663, -0.1305, +0.1406, -0.1440, -0.3751, +0.0856, -0.3176, -0.1920, -0.1768, -0.0441, +0.3610, +0.2481, -0.3468, +0.3347, -0.0395, -0.2355, +0.4171, -0.5151, -0.4218, +0.3227, +0.2654, +0.2650, +0.5049, +0.2835, +0.2377, +0.2090, -0.7111, -0.5745, -0.1374, +0.3172, -0.2061, -0.2416, +0.0766, +0.0375, +0.1519, -0.0079, +0.4752, -0.1764],
[ -0.5779, -0.8907, -0.0796, +0.0091, +0.3148, +0.1261, -0.4494, -0.3311, +0.0773, -1.0167, -0.0555, +0.0081, +0.2184, -0.0395, +0.3441, +0.0166, +0.1571, +0.0735, +0.0828, +0.0930, +0.4143, -0.4271, +0.0028, -0.6446, +0.3848, +0.1099, -0.2670, -0.0819, -0.4316, -0.3086, -0.0431, -0.1330, -0.1442, -0.4427, +0.4089, -0.3550, +0.0579, -0.3314, +0.3079, -0.1259, -0.0864, -0.2166, +0.4510, -0.3360, +0.4475, +0.2935, +0.5816, -0.3465, -0.0684, +0.0295, +0.1773, +0.0162, +0.5706, -0.2440, +0.2163, -0.1493, +0.0682, +0.0938, -0.2844, -0.1644, +0.1793, -0.2344, -0.2468, -0.3323],
[ +0.4155, +0.0246, -0.2521, -0.4373, +0.4434, -0.2098, +0.1860, -0.2861, +0.5067, +0.2209, +0.4908, +0.4427, +0.5569, -0.5627, -0.3265, +0.2534, +0.5487, -0.0335, +0.0668, +0.4599, +0.0165, +0.0099, -0.1573, +0.1116, +0.5107, -0.1235, -0.0799, -0.0664, -0.0290, +0.2743, -0.5150, +0.1297, +0.1573, -0.3584, +0.3134, -0.3470, -0.6832, +0.4671, +0.1756, -0.0064, +0.3199, +0.2185, -0.0667, -0.0745, +0.6360, +0.2930, -0.4689, +0.1044, +0.0442, +0.7311, -0.0553, +0.1238, +0.0559, -0.1398, -0.1215, +0.6281, -0.0978, +0.3053, -0.4188, +0.6612, -0.1931, -0.0680, -0.0432, -0.6521],
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[ +0.5998, -0.1158, -0.5013, -0.4391, +0.4305, -0.3907, +0.5771, -0.0970, +0.3632, -0.1602, +0.2323, -0.7595, +0.1617, +0.5596, -0.3879, +0.3121, +0.1754, +0.3481, +0.3725, +0.3765, -0.0953, -0.6187, -0.8097, +0.2146, -0.2064, -0.7110, -0.2842, -0.4461, -0.6511, +0.7377, +0.7654, -0.4286, +0.1029, +0.1905, -0.5883, -0.2421, +0.4443, -0.6318, -0.1407, +0.7153, -0.9163, +0.5425, +0.2954, -0.3016, +0.1308, -0.3518, -0.3073, -0.3187, -0.4732, +1.2551, -0.2534, -1.1775, -0.1763, -0.3098, +0.2833, -0.0511, -0.2499, -0.7165, -0.1025, -0.9377, +0.1240, -0.4735, -0.1186, +0.2413],
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])
weights_dense1_b = np.array([ +0.0799, +0.1544, -0.0219, +0.0491, +0.1737, +0.0602, -0.0628, +0.1146, +0.0634, +0.3830, +0.0188, -0.0325, +0.0165, +0.2468, +0.0738, -0.1225, +0.1515, +0.1403, +0.0072, +0.2129, +0.0434, +0.2546, +0.0585, +0.2448, +0.0367, +0.2689, -0.1913, +0.3209, -0.0055, -0.0189, -0.1166, -0.2170, -0.0577, -0.0298, -0.3168, -0.0039, -0.1054, +0.1625, +0.0319, +0.1553, +0.0144, +0.0544, -0.0169, -0.1398, -0.0393, +0.3117, -0.0020, +0.0278, -0.0182, -0.0935, -0.3590, +0.0758, +0.2647, -0.2247, -0.0108, +0.0731, +0.0036, +0.0600, -0.1088, +0.0776, +0.0752, +0.2949, -0.1901, +0.2119])
weights_dense2_w = np.array([
[ +0.2829, +0.1274, +0.0770, +0.0326, +0.3965, +0.2539, -0.0643, -0.0738, -0.0033, +0.1730, +0.0359, -0.0414, +0.3371, +0.3131, -0.0121, -0.1488, -0.2065, +0.1185, -0.3548, +0.0711, -0.0359, -0.0344, +0.1919, -0.0399, +0.1599, -0.0676, +0.1065, -0.1318, +0.0103, +0.1378, -0.0706, -0.1317],
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[ -0.0850, -0.2761, -0.0081, +0.0090, +0.1015, -0.5102, -0.0990, -0.1316, -0.2001, +0.2678, -0.0579, +0.1327, -0.2261, +0.1180, +0.0391, -0.0825, +0.2914, -0.2550, +0.0965, -0.1749, +0.0171, -0.0355, -0.1512, -0.0561, +0.0646, -0.3289, +0.2538, -0.0491, +0.2264, -0.2259, +0.2625, -0.0902],
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[ +0.0242, +0.0086, -0.2039, +0.0796, +0.1450, +0.0292, -0.0940, -0.3961, -0.0868, -0.1257, -0.0479, +0.0859, +0.1889, -0.2282, +0.2008, +0.2216, +0.0045, -0.1256, +0.2312, +0.0408, -0.1990, -0.0535, +0.0610, +0.1914, +0.1287, -0.2215, -0.1358, +0.2535, -0.6904, +0.1514, -0.5360, +0.0241],
[ -0.3569, -0.0973, -0.1108, -0.0586, -0.2076, -0.0033, -0.1016, +0.0355, +0.3202, -0.2284, +0.4854, -0.2669, +0.0945, +0.1975, -0.1088, +0.2604, +0.2120, +0.3836, -0.4544, -0.1547, -0.0507, -0.3789, -0.3716, -0.0970, -0.0739, +0.0609, +0.0093, +0.1087, +0.0211, -0.0726, +0.1710, -0.1665],
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[ -0.0133, -0.2633, -0.0222, -0.0470, -0.1426, -0.1825, +0.3973, +0.1082, +0.0472, +0.0463, +0.1395, +0.1672, -0.4916, +0.2919, -0.0058, -0.2578, +0.2675, -0.0605, +0.4374, -0.0772, +0.2279, -0.1046, -0.0228, -0.0861, -0.0378, +0.0290, +0.2521, -0.1899, +0.1253, -0.1489, +0.0663, +0.2189],
[ -0.0772, +0.0547, -0.1025, +0.0742, +0.0579, -0.0822, +0.0547, +0.0928, +0.3128, -0.7244, -0.0546, +0.0405, +0.2536, -0.0947, -0.2049, -0.1462, -0.0205, +0.2566, +0.1919, +0.2206, +0.1480, +0.0772, +0.0347, -0.3676, +0.3167, +0.1508, +0.0602, -0.0956, -0.0635, +0.0679, +0.2738, -0.1655],
[ -0.0089, -0.1972, +0.3011, -0.2190, +0.0261, -0.2587, +0.0892, -0.0625, -0.1996, +0.2813, +0.0026, +0.3962, +0.1465, +0.0207, +0.4603, +0.2336, +0.0307, -0.3998, +0.1829, +0.0044, -0.1982, +0.1740, -0.2629, +0.1894, +0.2644, -0.3220, +0.1762, -0.1777, -0.0815, +0.2274, -0.2811, -0.1195],
[ -0.0111, +0.0012, -0.2570, +0.0068, -0.1398, -0.0442, +0.1081, +0.5332, +0.0497, -0.0386, -0.0705, -0.2804, +0.3541, +0.1675, -0.0679, +0.0024, -0.1482, -0.2235, -0.0644, +0.1055, +0.1669, +0.0143, +0.0969, -0.3484, -0.0541, -0.2003, -0.3946, -0.0202, +0.3514, +0.1176, +0.1615, +0.0149],
[ +0.0024, +0.0249, +0.2366, -0.1528, +0.1546, -0.4135, -0.1059, +0.0903, +0.1755, -0.3064, -0.3129, +0.1606, +0.1677, -0.0400, -0.0257, +0.0413, +0.0561, +0.1476, +0.0935, +0.1599, -0.0345, -0.1886, +0.0270, +0.1870, +0.1104, -0.0194, +0.1017, +0.0461, -0.0919, +0.1252, +0.1206, -0.0130],
[ -0.0526, +0.0546, -0.1009, -0.1725, +0.2763, +0.0659, +0.2463, -0.2004, -0.3565, +0.2246, -0.1045, +0.1825, -0.3300, -0.3094, -0.1888, -0.2640, +0.5332, +0.0568, +0.0475, +0.0745, -0.1725, +0.1485, +0.3252, +0.1078, -0.1331, +0.1344, -0.2358, +0.2692, -0.0565, +0.0090, -0.3554, +0.1742],
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[ +0.1872, +0.1264, +0.0304, -0.5090, +0.2515, +0.1082, -0.0478, -0.2074, -0.0752, +0.0883, -0.0211, +0.2488, -0.1946, -0.0406, -0.0819, +0.1379, +0.1371, +0.2168, -0.2324, -0.1298, -0.1645, +0.1328, -0.0107, -0.0304, +0.0185, -0.3438, +0.1127, -0.1885, +0.0912, -0.0451, -0.3027, -0.1258],
[ +0.1804, +0.2549, +0.2666, +0.0777, -0.2163, -0.0253, -0.4566, +0.1145, +0.0411, -0.1807, +0.1224, -0.0022, +0.0518, +0.0738, +0.4896, +0.1047, +0.2574, -0.1460, -0.1439, -0.1068, +0.2620, -0.1485, -0.4162, -0.1776, +0.2563, +0.1715, -0.0329, -0.2095, +0.1647, +0.3084, +0.1936, +0.0287],
[ +0.4312, +0.1454, +0.2662, -0.2998, +0.0080, +0.0861, -0.3425, +0.2405, +0.0726, +0.2038, -0.0252, -0.1227, +0.1526, +0.0350, +0.2042, +0.2369, -0.1322, -0.1090, -0.2683, +0.5445, -0.1575, +0.0954, +0.1289, +0.1190, +0.0980, +0.0501, -0.2363, +0.1156, -0.1976, -0.2151, +0.1241, +0.0866],
[ +0.5668, -0.1841, +0.0680, +0.0811, -0.5151, +0.0804, -0.5132, +0.1044, -0.0942, -0.2706, +0.1516, -0.0667, -0.2792, +0.3116, +0.0538, -0.0620, -0.0580, -0.0752, +0.1782, -0.1050, +0.3424, -0.0788, -0.1616, -0.2246, +0.1611, +0.2062, -0.0285, -0.4489, +0.3289, +0.1713, -0.1071, -0.0225]
])
weights_dense2_b = np.array([ +0.1355, +0.2092, +0.0662, +0.0571, +0.1510, +0.0876, +0.0767, +0.1725, +0.0316, +0.0244, +0.0061, +0.1714, +0.0993, +0.0420, -0.1015, +0.0057, +0.1259, +0.0470, +0.0253, +0.1994, +0.1933, +0.1444, +0.0794, +0.0035, +0.1838, +0.0697, +0.1407, +0.0796, +0.1491, -0.0828, +0.1767, -0.1738])
weights_final_w = np.array([
[ -0.3632, -0.0928],
[ -0.1530, -0.3364],
[ +0.0840, +0.2019],
[ -0.5693, +0.0923],
[ -0.3316, -0.3358],
[ -0.1430, +0.2761],
[ +0.0627, -0.2931],
[ -0.2700, +0.4356],
[ -0.1396, +0.3754],
[ -0.4312, -0.2885],
[ +0.2022, +0.3984],
[ +0.0979, -0.1770],
[ -0.2544, -0.3154],
[ +0.1200, +0.3533],
[ +0.2107, -0.2887],
[ +0.0358, +0.3919],
[ +0.0660, -0.1379],
[ -0.1495, -0.2808],
[ +0.4709, -0.1830],
[ -0.2473, -0.1786],
[ +0.0928, +0.4902],
[ -0.0420, -0.4526],
[ -0.0682, -0.4276],
[ +0.1406, +0.5637],
[ -0.5923, +0.0503],
[ -0.3084, +0.4245],
[ +0.4819, -0.0185],
[ -0.1724, -0.1454],
[ -0.0248, +0.3343],
[ -0.2483, +0.6624],
[ -0.0615, +0.3794],
[ +0.3452, +0.1801]
])
weights_final_b = np.array([ -0.0066, -0.1176])
if __name__=="__main__":
demo_run()