sp
2 years ago
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8f7efe48db
3 changed files with 227 additions and 0 deletions
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71first_try.prism
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78test.py
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78test_model.py
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mdp |
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const int initY = 40; |
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const int initX = 80; |
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const int maxY = 240; |
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const int minX = 12; |
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const int maxX = 147; |
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formula HitTree = (122<x & x<139) & (220<y & y=232); |
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formula HitGate = ((x=51 | x=79) & y=164); |
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formula PassedGates = (158<y & y<165 & 51<x & x<79); |
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global move : [0..3] init 0; |
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module skier |
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ski_position : [1..14] init 8; |
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done : bool init false; |
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[left] !done & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (done'=(PassedGates|HitTree|HitGate)); |
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[right] !done & move=0 & ski_position<14 -> (ski_position'=ski_position+1) & (move'=1) & (done'=(PassedGates|HitTree|HitGate)); |
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[noop] !done & move=0 -> (move'=1) & (done'=(PassedGates|HitTree|HitGate)); |
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[left] done & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1); |
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[right] done & move=0 & ski_position<14 -> (ski_position'=ski_position+1) & (move'=1); |
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[noop] done & move=0 -> (move'=1); |
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endmodule |
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module updateY |
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y : [initY..maxY] init initY; |
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standstill : [0..8] init 0; |
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[update_y] move=1 & (ski_position=1 | ski_position = 14) & standstill>=5 -> (y'=y) & (standstill'=min(8,standstill+1)) & (move'=2); |
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[update_y] move=1 & (ski_position=1 | ski_position = 14) & standstill<5 -> (y'=min(maxY,y+4)) & (standstill'=min(8,standstill+1)) & (move'=2); |
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[update_y] move=1 & (ski_position=2 | ski_position = 3 | ski_position = 12 | ski_position = 13) -> (y'=min(maxY,y+8)) & (standstill'=0) & (move'=2); |
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[update_y] move=1 & (ski_position=4 | ski_position = 5 | ski_position = 10 | ski_position = 11) -> (y'=min(maxY,y+12)) & (standstill'=0) & (move'=2); |
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[update_y] move=1 & (ski_position=6 | ski_position = 7 | ski_position = 8 | ski_position = 9) -> (y'=min(maxY,y+16)) & (standstill'=0) & (move'=2); |
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endmodule |
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module updateX |
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x : [minX..maxX] init initX; |
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[update_x] move=2 & standstill>=8 -> (move'=0); |
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[update_x] move=2 & standstill<8 & (ski_position=7 | ski_position=8) -> (move'=0); |
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[update_x] move=2 & standstill<8 & ski_position=6 -> 0.1: (x'=max(minX,x-3)) + 0.7: (x'=max(minX,x-4)) + 0.2: (x'=max(minX,x-5)) & (move'=0); |
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[update_x] move=2 & standstill<8 & ski_position=9 -> 0.1: (x'=min(maxX,x+3)) + 0.7: (x'=min(maxX,x+4)) + 0.2: (x'=min(maxX,x+5)) & (move'=0); |
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[update_x] move=2 & standstill<8 & (ski_position=4 | ski_position=5) -> 0.1: (x'=max(minX,x-5)) + 0.7: (x'=max(minX,x-6)) + 0.2: (x'=max(minX,x-7)) & (move'=0); |
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[update_x] move=2 & standstill<8 & (ski_position=10 | ski_position=11) -> 0.1: (x'=min(maxX,x+5)) + 0.7: (x'=min(maxX,x+6)) + 0.2: (x'=min(maxX,x+7)) & (move'=0); |
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[update_x] move=2 & standstill<8 & (ski_position=2 | ski_position=3) -> 0.1: (x'=max(minX,x-5)) + 0.7: (x'=max(minX,x-6)) + 0.2: (x'=max(minX,x-7)) & (move'=0); |
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[update_x] move=2 & standstill<8 & (ski_position=12 | ski_position=13) -> 0.1: (x'=min(maxX,x+5)) + 0.7: (x'=min(maxX,x+6)) + 0.2: (x'=min(maxX,x+7)) & (move'=0); |
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[update_x] move=2 & standstill<8 & (ski_position=1) -> 0.1: (x'=max(minX,x-0)) + 0.7: (x'=max(minX,x-2)) + 0.2: (x'=max(minX,x-3)) & (move'=0); |
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[update_x] move=2 & standstill<8 & (ski_position=14) -> 0.1: (x'=min(maxX,x+0)) + 0.7: (x'=min(maxX,x+2)) + 0.2: (x'=min(maxX,x+3)) & (move'=0); |
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endmodule |
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rewards |
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[left] !done & PassedGates : 100; |
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[right] !done & PassedGates : 100; |
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[noop] !done & PassedGates : 100; |
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[left] !done & (HitTree) : -200; |
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[right] !done & (HitTree) : -200; |
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[noop] !done & (HitTree) : -200; |
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[left] !done & (HitGate) : -150; |
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[right] !done & (HitGate) : -150; |
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[noop] !done & (HitGate) : -150; |
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endrewards |
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import gym |
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from PIL import Image |
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from copy import deepcopy |
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import numpy as np |
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from matplotlib import pyplot as plt |
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import readchar |
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import queue |
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ski_position_queue = queue.Queue() |
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env = gym.make("ALE/Skiing-v5", render_mode="human") |
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observation, info = env.reset() |
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y = 40 |
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standstillcounter = 0 |
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def update_y(y, ski_position): |
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global standstillcounter |
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if ski_position in [6,7, 8,9]: |
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standstillcounter = 0 |
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y_update = 16 |
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elif ski_position in [4,5, 10,11]: |
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standstillcounter = 0 |
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y_update = 12 |
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elif ski_position in [2,3, 12,13]: |
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standstillcounter = 0 |
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y_update = 8 |
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elif ski_position in [1, 14] and standstillcounter >= 5: |
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if standstillcounter >= 8: |
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print("!!!!!!!!!! no more x updates!!!!!!!!!!!") |
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y_update = 0 |
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elif ski_position in [1, 14]: |
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y_update = 4 |
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if ski_position in [1, 14]: |
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standstillcounter += 1 |
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return y_update |
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def update_ski_position(ski_position, action): |
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if action == 0: |
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return ski_position |
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elif action == 1: |
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return min(ski_position+1, 14) |
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elif action == 2: |
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return max(ski_position-1, 1) |
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approx_x_coordinate = 80 |
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ski_position = 8 |
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for _ in range(1000000): |
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action = env.action_space.sample() # agent policy that uses the observation and info |
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action = int(repr(readchar.readchar())[1]) |
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ski_position = update_ski_position(ski_position, action) |
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y_update = update_y(y, ski_position) |
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y += y_update if y_update else 0 |
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old_x = deepcopy(approx_x_coordinate) |
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approx_x_coordinate = int(np.mean(np.where(observation[:,:,1] == 92)[1])) |
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print(f"Action: {action},\tski position: {ski_position},\ty_update: {y_update},\ty: {y},\tx: {approx_x_coordinate},\tx_update:{approx_x_coordinate - old_x}") |
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observation, reward, terminated, truncated, info = env.step(action) |
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if terminated or truncated: |
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observation, info = env.reset() |
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observation, reward, terminated, truncated, info = env.step(0) |
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observation, reward, terminated, truncated, info = env.step(0) |
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observation, reward, terminated, truncated, info = env.step(0) |
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observation, reward, terminated, truncated, info = env.step(0) |
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#plt.imshow(observation) |
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#plt.show() |
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#im = Image.fromarray(observation) |
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#im.save("init.png") |
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env.close() |
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import time, re, sys, csv, os |
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from subprocess import call |
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from os import listdir, system |
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from os.path import isfile, join, getctime |
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from dataclasses import dataclass, field |
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ski_position_to_rgb_map = {1: "230, 138, 0", |
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2: "255,153,0", |
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3: "255, 184, 77", |
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4: "255, 194, 100", |
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5: "255, 194, 120", |
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6: "255, 210, 130", |
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7: "255, 210, 140", |
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8: "230, 204, 255", |
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9: "204, 153, 255", |
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10: "255, 102, 179", |
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11: "255, 51, 153", |
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12: "255, 0, 255", |
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13: "179, 0, 179", |
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14: "102, 0, 102"} |
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def convert(tuples): |
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return dict(tuples) |
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@dataclass(frozen=True) |
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class State: |
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x: int |
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y: int |
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ski_position: int |
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def default_value(): |
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return {'action' : None, 'choiceValue' : None} |
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@dataclass(frozen=True) |
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class StateValue: |
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ranking: float |
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choices: dict = field(default_factory=default_value) |
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def exec(command): |
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print(f"Executing {command}") |
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system(f"echo {command} >> list_of_exec") |
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return system(command) |
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def fillStateRanking(file_name, match=""): |
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state_ranking = dict() |
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try: |
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with open(file_name, "r") as f: |
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file_content = f.readlines() |
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for line in file_content: |
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if match and skip_line.match(line): continue |
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stateMapping = convert(re.findall(r"([a-zA-Z_]*[a-zA-Z])=(\d+)?", line)) |
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#print("stateMapping", stateMapping) |
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choices = convert(re.findall(r"[a-zA-Z_]*(left|right|noop)[a-zA-Z_]*:(-?\d+\.?\d*)", line)) |
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#print("choices", choices) |
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ranking_value = float(re.search(r"Value:([+-]?(\d*\.\d+)|\d+)", line)[0].replace("Value:","")) |
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#print("ranking_value", ranking_value) |
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state = State(int(stateMapping["x"]), int(stateMapping["y"]), int(stateMapping["ski_position"])) |
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value = StateValue(ranking_value, choices) |
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state_ranking[state] = value |
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return state_ranking |
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except EnvironmentError: |
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print("TODO file not available. Exiting.") |
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sys.exit(1) |
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ranking = fillStateRanking("action_ranking") |
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sorted_ranking = sorted(ranking.items(), key=lambda x: x[1].ranking) |
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draw_commands = list() |
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for state in sorted_ranking[-20:-1]: |
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print(state) |
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x = state[0].x |
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y = state[0].y |
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markerSize = 2 |
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print(state[0].ski_position) |
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draw_commands.append(f"-fill 'rgba({ski_position_to_rgb_map[state[0].ski_position]},0.7)' -draw 'rectangle {x-markerSize},{y-markerSize} {x+markerSize},{y+markerSize} '") |
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command = f"convert init.png {' '.join(draw_commands)} first_try.png" |
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exec(command) |
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