qoute, checkpoint

checkpoints/actor-model-ddpg-walker-33h/model.json

@@ -0,0 +1 @@
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checkpoints/actor-model-ddpg-walker-42h/model.json

@@ -0,0 +1 @@
+{"modelTopology":{"class_name":"Model","config":{"name":"model7","layers":[{"name":"input1","class_name":"InputLayer","config":{"batch_input_shape":[null,202],"dtype":"float32","sparse":false,"name":"input1"},"inbound_nodes":[]},{"name":"dense_Dense22","class_name":"Dense","config":{"units":128,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense22","trainable":true},"inbound_nodes":[[["input1",0,0,{}]]]},{"name":"dense_Dense23","class_name":"Dense","config":{"units":64,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense23","trainable":true},"inbound_nodes":[[["dense_Dense22",0,0,{}]]]},{"name":"dense_Dense24","class_name":"Dense","config":{"units":18,"activation":"tanh","use_bias":false,"kernel_initializer":{"class_name":"RandomUniform","config":{"minval":-0.03,"maxval":0.03,"seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense24","trainable":true},"inbound_nodes":[[["dense_Dense23",0,0,{}]]]}],"input_layers":[["input1",0,0]],"output_layers":[["dense_Dense24",0,0]]},"keras_version":"tfjs-layers 0.8.5","backend":"tensor_flow.js"},"weightsManifest":[{"paths":["weights.bin"],"weights":[{"name":"dense_Dense22/kernel","shape":[202,128],"dtype":"float32"},{"name":"dense_Dense22/bias","shape":[128],"dtype":"float32"},{"name":"dense_Dense23/kernel","shape":[128,64],"dtype":"float32"},{"name":"dense_Dense23/bias","shape":[64],"dtype":"float32"},{"name":"dense_Dense24/kernel","shape":[64,18],"dtype":"float32"}]}]}

checkpoints/actor-model-ddpg-walker-60h/model.json

@@ -0,0 +1 @@
+{"modelTopology":{"class_name":"Model","config":{"name":"model7","layers":[{"name":"input1","class_name":"InputLayer","config":{"batch_input_shape":[null,202],"dtype":"float32","sparse":false,"name":"input1"},"inbound_nodes":[]},{"name":"dense_Dense22","class_name":"Dense","config":{"units":128,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense22","trainable":true},"inbound_nodes":[[["input1",0,0,{}]]]},{"name":"dense_Dense23","class_name":"Dense","config":{"units":64,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense23","trainable":true},"inbound_nodes":[[["dense_Dense22",0,0,{}]]]},{"name":"dense_Dense24","class_name":"Dense","config":{"units":18,"activation":"tanh","use_bias":false,"kernel_initializer":{"class_name":"RandomUniform","config":{"minval":-0.03,"maxval":0.03,"seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense24","trainable":true},"inbound_nodes":[[["dense_Dense23",0,0,{}]]]}],"input_layers":[["input1",0,0]],"output_layers":[["dense_Dense24",0,0]]},"keras_version":"tfjs-layers 0.8.5","backend":"tensor_flow.js"},"weightsManifest":[{"paths":["weights.bin"],"weights":[{"name":"dense_Dense22/kernel","shape":[202,128],"dtype":"float32"},{"name":"dense_Dense22/bias","shape":[128],"dtype":"float32"},{"name":"dense_Dense23/kernel","shape":[128,64],"dtype":"float32"},{"name":"dense_Dense23/bias","shape":[64],"dtype":"float32"},{"name":"dense_Dense24/kernel","shape":[64,18],"dtype":"float32"}]}]}

checkpoints/critic-model-ddpg-walker-33h/model.json

@@ -0,0 +1 @@
+{"modelTopology":{"class_name":"Model","config":{"name":"model6","layers":[{"name":"input2","class_name":"InputLayer","config":{"batch_input_shape":[null,18],"dtype":"float32","sparse":false,"name":"input2"},"inbound_nodes":[]},{"name":"input1","class_name":"InputLayer","config":{"batch_input_shape":[null,202],"dtype":"float32","sparse":false,"name":"input1"},"inbound_nodes":[]},{"name":"dense_Dense19","class_name":"Dense","config":{"units":128,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense19","trainable":true},"inbound_nodes":[[["input2",0,0,{}]]]},{"name":"dense_Dense18","class_name":"Dense","config":{"units":128,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense18","trainable":true},"inbound_nodes":[[["input1",0,0,{}]]]},{"name":"add_Add3","class_name":"Add","config":{"name":"add_Add3","trainable":true},"inbound_nodes":[[["dense_Dense19",0,0,{}],["dense_Dense18",0,0,{}]]]},{"name":"dense_Dense20","class_name":"Dense","config":{"units":64,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense20","trainable":true},"inbound_nodes":[[["add_Add3",0,0,{}]]]},{"name":"dense_Dense21","class_name":"Dense","config":{"units":1,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"RandomUniform","config":{"minval":-0.3,"maxval":0.3,"seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense21","trainable":true},"inbound_nodes":[[["dense_Dense20",0,0,{}]]]}],"input_layers":[["input1",0,0],["input2",0,0]],"output_layers":[["dense_Dense21",0,0]]},"keras_version":"tfjs-layers 0.8.5","backend":"tensor_flow.js"},"weightsManifest":[{"paths":["weights.bin"],"weights":[{"name":"dense_Dense19/kernel","shape":[18,128],"dtype":"float32"},{"name":"dense_Dense19/bias","shape":[128],"dtype":"float32"},{"name":"dense_Dense18/kernel","shape":[202,128],"dtype":"float32"},{"name":"dense_Dense18/bias","shape":[128],"dtype":"float32"},{"name":"dense_Dense20/kernel","shape":[128,64],"dtype":"float32"},{"name":"dense_Dense20/bias","shape":[64],"dtype":"float32"},{"name":"dense_Dense21/kernel","shape":[64,1],"dtype":"float32"},{"name":"dense_Dense21/bias","shape":[1],"dtype":"float32"}]}]}

checkpoints/critic-model-ddpg-walker-42h/model.json

@@ -0,0 +1 @@
+{"modelTopology":{"class_name":"Model","config":{"name":"model6","layers":[{"name":"input2","class_name":"InputLayer","config":{"batch_input_shape":[null,18],"dtype":"float32","sparse":false,"name":"input2"},"inbound_nodes":[]},{"name":"input1","class_name":"InputLayer","config":{"batch_input_shape":[null,202],"dtype":"float32","sparse":false,"name":"input1"},"inbound_nodes":[]},{"name":"dense_Dense19","class_name":"Dense","config":{"units":128,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense19","trainable":true},"inbound_nodes":[[["input2",0,0,{}]]]},{"name":"dense_Dense18","class_name":"Dense","config":{"units":128,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense18","trainable":true},"inbound_nodes":[[["input1",0,0,{}]]]},{"name":"add_Add3","class_name":"Add","config":{"name":"add_Add3","trainable":true},"inbound_nodes":[[["dense_Dense19",0,0,{}],["dense_Dense18",0,0,{}]]]},{"name":"dense_Dense20","class_name":"Dense","config":{"units":64,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense20","trainable":true},"inbound_nodes":[[["add_Add3",0,0,{}]]]},{"name":"dense_Dense21","class_name":"Dense","config":{"units":1,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"RandomUniform","config":{"minval":-0.3,"maxval":0.3,"seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense21","trainable":true},"inbound_nodes":[[["dense_Dense20",0,0,{}]]]}],"input_layers":[["input1",0,0],["input2",0,0]],"output_layers":[["dense_Dense21",0,0]]},"keras_version":"tfjs-layers 0.8.5","backend":"tensor_flow.js"},"weightsManifest":[{"paths":["weights.bin"],"weights":[{"name":"dense_Dense19/kernel","shape":[18,128],"dtype":"float32"},{"name":"dense_Dense19/bias","shape":[128],"dtype":"float32"},{"name":"dense_Dense18/kernel","shape":[202,128],"dtype":"float32"},{"name":"dense_Dense18/bias","shape":[128],"dtype":"float32"},{"name":"dense_Dense20/kernel","shape":[128,64],"dtype":"float32"},{"name":"dense_Dense20/bias","shape":[64],"dtype":"float32"},{"name":"dense_Dense21/kernel","shape":[64,1],"dtype":"float32"},{"name":"dense_Dense21/bias","shape":[1],"dtype":"float32"}]}]}

checkpoints/critic-model-ddpg-walker-60h/model.json

@@ -0,0 +1 @@
+{"modelTopology":{"class_name":"Model","config":{"name":"model6","layers":[{"name":"input2","class_name":"InputLayer","config":{"batch_input_shape":[null,18],"dtype":"float32","sparse":false,"name":"input2"},"inbound_nodes":[]},{"name":"input1","class_name":"InputLayer","config":{"batch_input_shape":[null,202],"dtype":"float32","sparse":false,"name":"input1"},"inbound_nodes":[]},{"name":"dense_Dense19","class_name":"Dense","config":{"units":128,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense19","trainable":true},"inbound_nodes":[[["input2",0,0,{}]]]},{"name":"dense_Dense18","class_name":"Dense","config":{"units":128,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense18","trainable":true},"inbound_nodes":[[["input1",0,0,{}]]]},{"name":"add_Add3","class_name":"Add","config":{"name":"add_Add3","trainable":true},"inbound_nodes":[[["dense_Dense19",0,0,{}],["dense_Dense18",0,0,{}]]]},{"name":"dense_Dense20","class_name":"Dense","config":{"units":64,"activation":"relu","use_bias":true,"kernel_initializer":{"class_name":"VarianceScaling","config":{"scale":1,"mode":"fan_avg","distribution":"uniform","seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense20","trainable":true},"inbound_nodes":[[["add_Add3",0,0,{}]]]},{"name":"dense_Dense21","class_name":"Dense","config":{"units":1,"activation":"linear","use_bias":true,"kernel_initializer":{"class_name":"RandomUniform","config":{"minval":-0.3,"maxval":0.3,"seed":0}},"bias_initializer":{"class_name":"Zeros","config":{}},"kernel_regularizer":null,"bias_regularizer":null,"activity_regularizer":null,"kernel_constraint":null,"bias_constraint":null,"name":"dense_Dense21","trainable":true},"inbound_nodes":[[["dense_Dense20",0,0,{}]]]}],"input_layers":[["input1",0,0],["input2",0,0]],"output_layers":[["dense_Dense21",0,0]]},"keras_version":"tfjs-layers 0.8.5","backend":"tensor_flow.js"},"weightsManifest":[{"paths":["weights.bin"],"weights":[{"name":"dense_Dense19/kernel","shape":[18,128],"dtype":"float32"},{"name":"dense_Dense19/bias","shape":[128],"dtype":"float32"},{"name":"dense_Dense18/kernel","shape":[202,128],"dtype":"float32"},{"name":"dense_Dense18/bias","shape":[128],"dtype":"float32"},{"name":"dense_Dense20/kernel","shape":[128,64],"dtype":"float32"},{"name":"dense_Dense20/bias","shape":[64],"dtype":"float32"},{"name":"dense_Dense21/kernel","shape":[64,1],"dtype":"float32"},{"name":"dense_Dense21/bias","shape":[1],"dtype":"float32"}]}]}

src/index.html

@@ -15,16 +15,17 @@
     <image style="display: none" src="./images/background.png"></image><!-- for google and previews-->
 
     <div id="info">
-      Teaching 2d humanoids to walk in your browser using reinforcement learning. You can view the progress at
-      differen't stages of training with the buttons below.
+      What is this? An experiment to teach 2D humanoids to walk in your browser using reinforcement learning. The walker is reward for keeping it's head above its feet and moving to the right of the screen. 
+      First it wiggled to the right, then crawed, loped, then learnt to a wierd skipping hopping motion.
+
+      You can view the progress at differen't stages of training with the buttons below.
       <p></p><br />
-      Technical: This uses use reinforcement learning to teach them
+      How does it work?: This uses use reinforcement learning to teach them
       to walk. This is a branch of machine learning targeted at controlling systems such as system of limbs. Training
       is done offline in tensorflow.js. The environment is in box2d for javascript. The aglorithm is DDPG with
       prioritized experince replay.
       <p></p>
-      The dark outlines are when the agent grips the floor, since I found walking was difficult otherwise. The balls
-      are to provide obstacles.
+      The dark outlines are when the agent grips the floor, since I found walking was difficult otherwise. The balls are to provide obstacles.
       <p></p><br />
       Credits: The walker code is adapted from <a href="http://rednuht.org/genetic_walkers/">rednuht.org/genetic_walkers/</a>,
       the DDPG code was adapted from <a href="https://github.com/thibo73800/metacar">github.com/thibo73800/metacar</a>.
@@ -38,6 +39,8 @@
       <button onclick="game.agent.restore('./checkpoints', 'model-ddpg-walker-4h/model')">4 hours</button>
       <button onclick="game.agent.restore('./checkpoints', 'model-ddpg-walker-8h/model')">8 hours</button>
       <button onclick="game.agent.restore('./checkpoints', 'model-ddpg-walker-22h/model')">22 hours</button>
+      <button onclick="game.agent.restore('./checkpoints', 'model-ddpg-walker-42h/model')">42 hours</button>
+      <button onclick="game.agent.restore('./checkpoints', 'model-ddpg-walker-60h/model')">60 hours</button>
     </div>
     <div>
       <h4>Be mean:</h4><button onclick="game.agent.env.chuckBalls()">Thow balls</button>
@@ -51,7 +54,7 @@
 function init() {
   var canvas_id = 'main_screen2'
   window.game = new Game(config, canvas_id)
-  game.agent.restore('./checkpoints', 'model-ddpg-walker-22h/model') // load checkpoint
+  game.agent.restore('./checkpoints', 'model-ddpg-walker-60h/model') // load checkpoint
   game.agent.restore('../outputs', 'model-ddpg-walker/model') // load latest
   game.loop()