misc

src/js/charts.js

@@ -1,104 +0,0 @@
-var Charts = function () {
-    this.__constructor.apply(this, arguments);
-}
-
-Charts.prototype.__constructor = function () {}
-
-Charts.prototype.collect = function (agents, n, chunkSize) {
-    if (n === undefined) n = 1
-    if (chunkSize === undefined) chunkSize = 1
-    var data = {}
-
-    // collect data
-    var keys = Object.keys(agents[0].infos[0])
-    for (const key of keys) {
-        if (key === 'x') continue
-        data[key] = []
-        for (let i = 0; i < agents.length; i += n) {
-            const infos = agents[i].infos;
-            // var borderColor = "hsl("+agents[i].walkerhue+",45%,"+(100-15*agents[i].walker.health/config.walker_health)+"%)";
-            // build dataset
-            var dataset = {
-                label: 'Agent ' + i,
-                data: [],
-                fill: false,
-                // borderColor
-            }
-            for (const info of infos) {
-                // a datapoint
-                dataset.data.push({
-                    x: info['x'],
-                    y: info[key]
-                })
-            }
-
-            // take means?
-            var leftOver = dataset.data % chunkSize
-            dataset.data = _.chunk(dataset.data, 4)
-                .map(c => ({
-                    x: _.mean(_.map(c, 'x')),
-                    y: _.mean(_.map(c, 'y'))
-                }))
-            if (leftOver) dataset.data.pop()
-
-            data[key].push(dataset)
-        }
-    }
-    for (let i = 0; i < agents.length; i++) {
-        agents[i].infos = [] // empty it
-    }
-
-    return data
-}
-
-Charts.prototype.init = function (agents) {
-
-    var data = this.collect(agents, 1, 10)
-    var div = document.getElementById('charts');
-
-    // make charts
-    this.charts = []
-    for (const key in data) {
-        var canvas = document.createElement("canvas");
-        div.appendChild(canvas)
-        var ctx = canvas.getContext('2d');
-        var lineChart = new Chart(ctx, {
-            type: 'scatter',
-            data: {
-                datasets: data[key]
-            },
-            options: {
-                title: {
-                    text: key,
-                    display: true
-                },
-                scales: {
-                    xAxes: [{
-                        type: 'linear',
-                        position: 'bottom'
-                    }]
-                }
-            }
-        });
-        this.charts.push(lineChart)
-    }
-
-}
-
-Charts.prototype.update = function (agents) {
-    var data = this.collect(agents, 1, 10)
-    var maxLen = 10000
-    for (const chart of this.charts) {
-        var newDatasets = data[chart.config.options.title.text]
-        chart.data.datasets.forEach((dataset) => {
-            var dat = newDatasets.filter(d => d.label == dataset.label)[0].data
-            dataset.data.push(...dat);
-            if (dataset.data.length > maxLen) dataset.data.splice(0, dataset.data.length - maxLen)
-        });
-        chart.update();
-    }
-}
-
-module.exports = {
-    Charts
-}

src/js/config.js

@@ -7,5 +7,7 @@ module.exports = {
   population_size: 1,
   walker_health: 100,
   max_floor_tiles: 50,
-  action_repeat: 1
+  action_repeat: 1,
+  STRENGTH: 2.2,
+  SPEED: 30
 };

src/js/ddpg/ddpg_agent.js

@@ -101,6 +101,7 @@ class DDPGAgent {
             this.ddpg.actor.model.save('downloads://actor-' + name);
             this.ddpg.critic.model.save('downloads://critic-' + name);
         }
+        // TODO also save config
     }
 
     async restore(folder, name, callback) {

src/js/game.js

@@ -1,7 +1,4 @@
 const config = require('./config')
-const {
-  Charts
-} = require('./charts')
 const {
   tf
 } = require('./ddpg//tf_import')

src/js/walker.js

@@ -10,8 +10,6 @@ const {
   Renderer
 } = require('./renderer')
 
-const STRENGTH = 2.6
-const SPEED = 30
 
 class Walker {
   constructor(world, floor, config) {
@@ -215,7 +213,7 @@ class Walker {
     jd.lowerAngle = deg2rad(-10 / 2);
     jd.upperAngle = deg2rad(30 / 2);
     jd.enableLimit = true;
-    jd.maxMotorTorque = 10 * STRENGTH;
+    jd.maxMotorTorque = 10 * this.config.STRENGTH;
     jd.motorSpeed = 0;
     jd.enableMotor = true;
     var j = this.world.CreateJoint(jd)
@@ -272,7 +270,7 @@ class Walker {
     jd.lowerAngle = deg2rad(-100);
     jd.upperAngle = deg2rad(-2);
     jd.enableLimit = true;
-    jd.maxMotorTorque = 260 * STRENGTH;
+    jd.maxMotorTorque = 260 * this.config.STRENGTH;
     jd.motorSpeed = 0;
     jd.enableMotor = true;
     var j = this.world.CreateJoint(jd)
@@ -287,7 +285,7 @@ class Walker {
     jd.lowerAngle = -deg2rad(-36);
     jd.upperAngle = deg2rad(30);
     jd.enableLimit = true;
-    jd.maxMotorTorque = 90 * STRENGTH;
+    jd.maxMotorTorque = 90 * this.config.STRENGTH;
     jd.motorSpeed = 0;
     jd.enableMotor = true;
     var j = this.world.CreateJoint(jd)
@@ -347,7 +345,7 @@ class Walker {
     jd.lowerAngle = deg2rad(0);
     jd.upperAngle = deg2rad(85);
     jd.enableLimit = true;
-    jd.maxMotorTorque = 150 * STRENGTH;
+    jd.maxMotorTorque = 150 * this.config.STRENGTH;
     jd.motorSpeed = 0;
     jd.enableMotor = true;
     var j = this.world.CreateJoint(jd)
@@ -362,7 +360,7 @@ class Walker {
     jd.lowerAngle = deg2rad(-35);
     jd.upperAngle = deg2rad(35);
     jd.enableLimit = true;
-    jd.maxMotorTorque = 90 * STRENGTH;
+    jd.maxMotorTorque = 90 * this.config.STRENGTH;
     jd.motorSpeed = 0;
     jd.enableMotor = true;
     var j = this.world.CreateJoint(jd)
@@ -402,7 +400,7 @@ class Walker {
     jd.lowerAngle = -0.1/2;
     jd.upperAngle = 0.2/2;
     jd.enableLimit = true;
-    jd.maxMotorTorque = 2 * STRENGTH;
+    jd.maxMotorTorque = 2 * this.config.STRENGTH;
     jd.motorSpeed = 0;
     jd.enableMotor = true;
     var j = this.world.CreateJoint(jd)
@@ -436,7 +434,7 @@ class Walker {
     jd.lowerAngle = deg2rad(-60);
     jd.upperAngle = deg2rad(125);
     jd.enableLimit = true;
-    jd.maxMotorTorque = 250 * STRENGTH;
+    jd.maxMotorTorque = 250 * this.config.STRENGTH;
     jd.motorSpeed = 0;
     jd.enableMotor = true;
     var j = this.world.CreateJoint(jd)
@@ -448,7 +446,7 @@ class Walker {
     jd.lowerAngle = deg2rad(-60);
     jd.upperAngle = deg2rad(125);
     jd.enableLimit = true;
-    jd.maxMotorTorque = 250 * STRENGTH;
+    jd.maxMotorTorque = 250 * this.config.STRENGTH;
     jd.motorSpeed = 0;
     jd.enableMotor = true;
     var j = this.world.CreateJoint(jd)
@@ -463,7 +461,7 @@ class Walker {
     jd.lowerAngle = deg2rad(-10);
     jd.upperAngle = deg2rad(80);
     jd.enableLimit = true;
-    jd.maxMotorTorque = 400 * STRENGTH;
+    jd.maxMotorTorque = 400 * this.config.STRENGTH;
     jd.motorSpeed = 0;
     jd.enableMotor = true;
     var j = this.world.CreateJoint(jd)
@@ -475,7 +473,7 @@ class Walker {
     jd.lowerAngle = deg2rad(-10);
     jd.upperAngle = deg2rad(80);
     jd.enableLimit = true;
-    jd.maxMotorTorque = 400 * STRENGTH;
+    jd.maxMotorTorque = 400 * this.config.STRENGTH;
     jd.motorSpeed = 0;
     jd.enableMotor = true;
     var j = this.world.CreateJoint(jd)
@@ -573,7 +571,7 @@ class Walker {
   simulationPreStep(motorSpeeds) {
     // act
     for (var k = 0; k < this.joints.length; k++) {
-      this.joints[k].SetMotorSpeed(motorSpeeds[k] * SPEED); // action can range from -3 to 3, radians per second
+      this.joints[k].SetMotorSpeed(motorSpeeds[k] * this.config.speed); // action can range from -3 to 3, radians per second
     }
     for (let i = 0; i < motorSpeeds.length - this.joints.length; i++) {
       this.grips[i] = motorSpeeds[i] > 0