chapter06/exercise06-10.ipynb

{
  "cells": [
    {
      "cell_type": "markdown",
      "source": [
        "## Exercise 6.10 - Windy Grid World with Stochastic Wind\n",
        "\n",
        "Re-solve the windy gridworld task with King’s moves, assuming that the effect of the wind,\n",
        "if there is any, is stochastic, sometimes varying by 1 from the mean values given for each\n",
        "column. That is, a third of the time you move exactly according to these values, as in the\n",
        "previous exercise, but also a third of the time you move one cell above that, and another\n",
        "third of the time you move one cell below that. For example, if you are one cell to the\n",
        "right of the goal and you move left, then one-third of the time you move one cell above\n",
        "the goal, one-third of the time you move two cells above the goal, and one-third of the\n",
        "time you move to the goal."
      ],
      "metadata": {
        "collapsed": true,
        "pycharm": {
          "name": "#%% md\n"
        }
      }
    },
    {
      "cell_type": "code",
      "source": [
        "! pip3 -q install numpy matplotlib gym"
      ],
      "outputs": [],
      "execution_count": 10,
      "metadata": {
        "pycharm": {
          "is_executing": false,
          "name": "#%%\n"
        }
      }
    },
    {
      "cell_type": "code",
      "source": [
        "import gym\n",
        "import numpy as np\n",
        "import matplotlib\n",
        "import matplotlib.pyplot as plt\n",
        "\n",
        "import windy\n",
        "from sarsa import sarsa, run_episode"
      ],
      "outputs": [],
      "execution_count": 11,
      "metadata": {
        "pycharm": {
          "is_executing": false,
          "name": "#%%\n"
        }
      }
    },
    {
      "cell_type": "markdown",
      "source": [
        "### Windy Gridworld with King's Moves and Stochastic Wind\n",
        "\n",
        "Because the environment is stochastic and the outcomes of the moves in the windy area are\n",
        "non-deterministic the convergence of the Sarsa algorithm benefits a smaller learning rate\n",
        "$\\alpha$ to limit the effect of noisy updates on the value function."
      ],
      "metadata": {}
    },
    {
      "cell_type": "code",
      "source": [
        "env = gym.make('WindyGridworld-v0', king=True, stochastic=True)\n",
        "q, policy, _ = sarsa(env, 1000, eps0=0.5, alpha=0.25)"
      ],
      "outputs": [],
      "execution_count": 12,
      "metadata": {
        "pycharm": {
          "is_executing": false,
          "name": "#%%\n"
        }
      }
    },
    {
      "cell_type": "code",
      "source": [
        "matplotlib.rcParams['figure.figsize'] = [10, 10]\n",
        "\n",
        "\n",
        "def plot_results(env, q, policy):\n",
        "    fig = plt.figure()\n",
        "    ax = fig.gca()\n",
        "    ax.set_title(\"Optimal Value Function and Policy\")\n",
        "    \n",
        "    q = np.copy(q)\n",
        "    unvisited = np.where(q == 0)\n",
        "    q[unvisited] = -np.inf\n",
        "    v = np.max(q, axis=1).reshape(env.observation_space.nvec)\n",
        "    # v = np.round(v)\n",
        "    ax.imshow(v.T, origin='lower')\n",
        "\n",
        "    a_stars = np.argmax(policy, axis=1)\n",
        "    arrows = np.array([env.actions[a] for a in a_stars])\n",
        "    arrows[unvisited[0], :] = 0\n",
        "    arrows = arrows.reshape([*env.observation_space.nvec, 2])\n",
        "    xr = np.arange(env.observation_space.nvec[0])\n",
        "    yr = np.arange(env.observation_space.nvec[1])\n",
        "    ax.quiver(xr, yr, arrows[:, :, 0].T, arrows[:, :, 1].T, pivot='mid')"
      ],
      "outputs": [],
      "execution_count": 13,
      "metadata": {
        "pycharm": {
          "is_executing": false,
          "name": "#%%\n"
        }
      }
    },
    {
      "cell_type": "code",
      "source": [
        "plot_results(env, q, policy)"
      ],
      "outputs": [
        {
          "output_type": "display_data",
          "data": {
            "text/plain": [
              "<Figure size 720x720 with 1 Axes>"
            ],
            "image/png": [
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\n"
            ]
          },
          "metadata": {
            "needs_background": "light"
          }
        }
      ],
      "execution_count": 14,
      "metadata": {
        "pycharm": {
          "is_executing": false,
          "name": "#%%\n"
        }
      }
    },
    {
      "cell_type": "code",
      "source": [
        "rewards = run_episode(env, policy, render=True)\n",
        "print(f\"Episode length = {len(rewards)}\")"
      ],
      "outputs": [
        {
          "output_type": "display_data",
          "data": {
            "text/plain": [
              "<Figure size 720x720 with 1 Axes>"
            ],
            "image/png": [
              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\n"
            ]
          },
          "metadata": {
            "needs_background": "light"
          }
        },
        {
          "output_type": "stream",
          "name": "stdout",
          "text": [
            "Episode length = 7\n"
          ]
        }
      ],
      "execution_count": 15,
      "metadata": {
        "pycharm": {
          "is_executing": false,
          "name": "#%%\n"
        }
      }
    },
    {
      "cell_type": "code",
      "source": [
        "rewards = run_episode(env, policy, render=True)\n",
        "print(f\"Episode length = {len(rewards)}\")"
      ],
      "outputs": [
        {
          "output_type": "display_data",
          "data": {
            "text/plain": [
              "<Figure size 720x720 with 1 Axes>"
            ],
            "image/png": [
              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\n"
            ]
          },
          "metadata": {
            "needs_background": "light"
          }
        },
        {
          "output_type": "stream",
          "name": "stdout",
          "text": [
            "Episode length = 7\n"
          ]
        }
      ],
      "execution_count": 16,
      "metadata": {
        "pycharm": {
          "is_executing": false,
          "name": "#%%\n"
        }
      }
    },
    {
      "cell_type": "code",
      "source": [
        "rewards = run_episode(env, policy, render=True)\n",
        "print(f\"Episode length = {len(rewards)}\")"
      ],
      "outputs": [
        {
          "output_type": "display_data",
          "data": {
            "text/plain": [
              "<Figure size 720x720 with 1 Axes>"
            ],
            "image/png": [
              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\n"
            ]
          },
          "metadata": {
            "needs_background": "light"
          }
        },
        {
          "output_type": "stream",
          "name": "stdout",
          "text": [
            "Episode length = 15\n"
          ]
        }
      ],
      "execution_count": 17,
      "metadata": {
        "pycharm": {
          "is_executing": false,
          "name": "#%%\n"
        }
      }
    },
    {
      "cell_type": "code",
      "source": [
        "rewards = run_episode(env, policy, render=True)\n",
        "print(f\"Episode length = {len(rewards)}\")"
      ],
      "outputs": [
        {
          "output_type": "display_data",
          "data": {
            "text/plain": [
              "<Figure size 720x720 with 1 Axes>"
            ],
            "image/png": [
              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\n"
            ]
          },
          "metadata": {
            "needs_background": "light"
          }
        },
        {
          "output_type": "stream",
          "name": "stdout",
          "text": [
            "Episode length = 7\n"
          ]
        }
      ],
      "execution_count": 18,
      "metadata": {
        "pycharm": {
          "is_executing": false,
          "name": "#%%\n"
        }
      }
    }
  ],
  "metadata": {
    "kernelspec": {
      "name": "python3",
      "language": "python",
      "display_name": "Python 3"
    },
    "language_info": {
      "name": "python",
      "version": "3.7.4",
      "mimetype": "text/x-python",
      "codemirror_mode": {
        "name": "ipython",
        "version": 3
      },
      "pygments_lexer": "ipython3",
      "nbconvert_exporter": "python",
      "file_extension": ".py"
    },
    "pycharm": {
      "stem_cell": {
        "cell_type": "raw",
        "source": [],
        "metadata": {
          "collapsed": false
        }
      }
    },
    "kernel_info": {
      "name": "python3"
    },
    "nteract": {
      "version": "0.14.5"
    }
  },
  "nbformat": 4,
  "nbformat_minor": 1
}