In [26]:

    

from moutaincar_dpg import *


    

In [27]:

    

%load_ext autoreload
%autoreload 2
%matplotlib inline

import numpy as np


    

    




The autoreload extension is already loaded. To reload it, use:
  %reload_ext autoreload

In [29]:

    

car1 = mountaincar_dpg(random_init_theta= False, environment= 'AcrobotContinuous-v0')


    

    




[2016-06-07 10:28:50,994] Making new env: AcrobotContinuous-v0






    




action limits (array([-1.]), array([ 1.]))
N_0 50.0
using environment AcrobotContinuous-v0
tile resolution 10.0
gamma 0.99

In [30]:

    

car1.start_training(max_episodes=250, dataname = 'dpg_acrobot', save = False, max_episode_length = 5000)


    

    




[2016-06-07 10:29:00,975] Action '0.0020101575777' is not contained within action space 'Box(1,)'.






    




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Finished run #101
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Finished run #121
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Finished run #151
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Finished run #161
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Finished run #162
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min theta -0.457559301095
Finished run #169
with a sigma exploration of  1
lasted 1119 steps
max theta 0.695688219505
min theta -0.4597731176
Finished run #170
with a sigma exploration of  1
lasted 504 steps
max theta 0.6971779399
min theta -0.460832889317






    













    













    




Finished run #171
with a sigma exploration of  1
lasted 1688 steps
max theta 0.700420729955
min theta -0.462464198003
Finished run #172
with a sigma exploration of  1
lasted 755 steps
max theta 0.701946132492
min theta -0.46361275632
Finished run #173
with a sigma exploration of  1
lasted 375 steps
max theta 0.702765514329
min theta -0.464638559108
Finished run #174
with a sigma exploration of  1
lasted 1410 steps
max theta 0.704138169448
min theta -0.466242095742
Finished run #175
with a sigma exploration of  1
lasted 590 steps
max theta 0.7058359967
min theta -0.468038865914
Finished run #176
with a sigma exploration of  1
lasted 462 steps
max theta 0.706875618751
min theta -0.468879162872
Finished run #177
with a sigma exploration of  1
lasted 490 steps
max theta 0.707903237243
min theta -0.470125172986
Finished run #178
with a sigma exploration of  1
lasted 371 steps
max theta 0.708952072108
min theta -0.47121000511
Finished run #179
with a sigma exploration of  1
lasted 361 steps
max theta 0.710891811551
min theta -0.472720020758
Finished run #180
with a sigma exploration of  1
lasted 606 steps
max theta 0.713705460872
min theta -0.474264562018






    













    













    




Finished run #181
with a sigma exploration of  1
lasted 1154 steps
max theta 0.716188806368
min theta -0.476526813505
Finished run #182
with a sigma exploration of  1
lasted 1518 steps
max theta 0.717464814807
min theta -0.477478422359
Finished run #183
with a sigma exploration of  1
lasted 360 steps
max theta 0.718726615748
min theta -0.478312647145
Finished run #184
with a sigma exploration of  1
lasted 520 steps
max theta 0.720059772732
min theta -0.479648526732
Finished run #185
with a sigma exploration of  1
lasted 1108 steps
max theta 0.720616651172
min theta -0.482865559815
Finished run #186
with a sigma exploration of  1
lasted 1038 steps
max theta 0.723949538069
min theta -0.487627087427
Finished run #187
with a sigma exploration of  1
lasted 828 steps
max theta 0.726374937153
min theta -0.491522142947
Finished run #188
with a sigma exploration of  1
lasted 470 steps
max theta 0.728525451125
min theta -0.496343181554
Finished run #189
with a sigma exploration of  1
lasted 345 steps
max theta 0.729426220892
min theta -0.498160443384
Finished run #190
with a sigma exploration of  1
lasted 1396 steps
max theta 0.732746672249
min theta -0.501306158645






    













    













    




Finished run #191
with a sigma exploration of  1
lasted 815 steps
max theta 0.734001038323
min theta -0.507724102251
Finished run #192
with a sigma exploration of  1
lasted 1572 steps
max theta 0.738259460117
min theta -0.508060862341
Finished run #193
with a sigma exploration of  1
lasted 356 steps
max theta 0.740266183231
min theta -0.511198716636
Finished run #194
with a sigma exploration of  1
lasted 670 steps
max theta 0.740536973611
min theta -0.511897298286
Finished run #195
with a sigma exploration of  1
lasted 932 steps
max theta 0.742119903596
min theta -0.512585525902
Finished run #196
with a sigma exploration of  1
lasted 838 steps
max theta 0.74366974092
min theta -0.51601462945
Finished run #197
with a sigma exploration of  1
lasted 835 steps
max theta 0.746843203319
min theta -0.518851327564
Finished run #198
with a sigma exploration of  1
lasted 583 steps
max theta 0.748502988222
min theta -0.519696886043
Finished run #199
with a sigma exploration of  1
lasted 969 steps
max theta 0.750266946468
min theta -0.520249340446
Finished run #200
with a sigma exploration of  1
lasted 1198 steps
max theta 0.751790283218
min theta -0.522635961423






    













    













    




Finished run #201
with a sigma exploration of  1
lasted 602 steps
max theta 0.755037816655
min theta -0.524358732518
Finished run #202
with a sigma exploration of  1
lasted 268 steps
max theta 0.757460447784
min theta -0.525607064002
Finished run #203
with a sigma exploration of  1
lasted 558 steps
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min theta -0.527604228487
Finished run #204
with a sigma exploration of  1
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max theta 0.762625951693
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Finished run #205
with a sigma exploration of  1
lasted 1111 steps
max theta 0.765585454687
min theta -0.534654981185
Finished run #206
with a sigma exploration of  1
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max theta 0.769244605684
min theta -0.536301845035
Finished run #207
with a sigma exploration of  1
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max theta 0.7721249868
min theta -0.537253339969
Finished run #208
with a sigma exploration of  1
lasted 655 steps
max theta 0.773635041141
min theta -0.538723302807
Finished run #209
with a sigma exploration of  1
lasted 373 steps
max theta 0.775495095299
min theta -0.542129586528
Finished run #210
with a sigma exploration of  1
lasted 938 steps
max theta 0.778884211961
min theta -0.545169177847






    













    













    




Finished run #211
with a sigma exploration of  1
lasted 774 steps
max theta 0.78235093473
min theta -0.548848152879
Finished run #212
with a sigma exploration of  1
lasted 688 steps
max theta 0.784535234024
min theta -0.552674055911
Finished run #213
with a sigma exploration of  1
lasted 642 steps
max theta 0.785997952958
min theta -0.555494557785
Finished run #214
with a sigma exploration of  1
lasted 379 steps
max theta 0.788186625952
min theta -0.558840051979
Finished run #215
with a sigma exploration of  1
lasted 845 steps
max theta 0.790791517505
min theta -0.562102742949
Finished run #216
with a sigma exploration of  1
lasted 800 steps
max theta 0.792301816191
min theta -0.563787662217
Finished run #217
with a sigma exploration of  1
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min theta -0.565834874096
Finished run #218
with a sigma exploration of  1
lasted 239 steps
max theta 0.796122997977
min theta -0.5695688811
Finished run #219
with a sigma exploration of  1
lasted 559 steps
max theta 0.797277338826
min theta -0.5719934794
Finished run #220
with a sigma exploration of  1
lasted 508 steps
max theta 0.799999220058
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Finished run #221
with a sigma exploration of  1
lasted 525 steps
max theta 0.801972934897
min theta -0.579156866112
Finished run #222
with a sigma exploration of  1
lasted 354 steps
max theta 0.803549955386
min theta -0.581198357235
Finished run #223
with a sigma exploration of  1
lasted 540 steps
max theta 0.804723654982
min theta -0.582408026024
Finished run #224
with a sigma exploration of  1
lasted 238 steps
max theta 0.806306479688
min theta -0.584071453269
Finished run #225
with a sigma exploration of  1
lasted 284 steps
max theta 0.808397433219
min theta -0.586691585407
Finished run #226
with a sigma exploration of  1
lasted 438 steps
max theta 0.809957242561
min theta -0.590056253417
Finished run #227
with a sigma exploration of  1
lasted 578 steps
max theta 0.812830344047
min theta -0.592102662285
Finished run #228
with a sigma exploration of  1
lasted 886 steps
max theta 0.815788077694
min theta -0.595663275928
Finished run #229
with a sigma exploration of  1
lasted 466 steps
max theta 0.819580089476
min theta -0.59997165456
Finished run #230
with a sigma exploration of  1
lasted 466 steps
max theta 0.821256906352
min theta -0.603845319477






    













    













    




Finished run #231
with a sigma exploration of  1
lasted 616 steps
max theta 0.82378021624
min theta -0.605831205597
Finished run #232
with a sigma exploration of  1
lasted 907 steps
max theta 0.828501183488
min theta -0.609401624995
Finished run #233
with a sigma exploration of  1
lasted 557 steps
max theta 0.83111060278
min theta -0.610825943985
Finished run #234
with a sigma exploration of  1
lasted 837 steps
max theta 0.835551487729
min theta -0.614858036239
Finished run #235
with a sigma exploration of  1
lasted 755 steps
max theta 0.838886437778
min theta -0.617888608336
Finished run #236
with a sigma exploration of  1
lasted 661 steps
max theta 0.8427115507
min theta -0.621543366954
Finished run #237
with a sigma exploration of  1
lasted 372 steps
max theta 0.845288151856
min theta -0.624335037802
Finished run #238
with a sigma exploration of  1
lasted 425 steps
max theta 0.848715680018
min theta -0.628410584769
Finished run #239
with a sigma exploration of  1
lasted 451 steps
max theta 0.85086918244
min theta -0.629637543143
Finished run #240
with a sigma exploration of  1
lasted 755 steps
max theta 0.853523801318
min theta -0.631325789025






    













    













    




Finished run #241
with a sigma exploration of  1
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max theta 0.856645825274
min theta -0.633998537167
Finished run #242
with a sigma exploration of  1
lasted 342 steps
max theta 0.860270115024
min theta -0.637550720211
Finished run #243
with a sigma exploration of  1
lasted 850 steps
max theta 0.862073068847
min theta -0.639819752245
Finished run #244
with a sigma exploration of  1
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max theta 0.864320778504
min theta -0.641766128828
Finished run #245
with a sigma exploration of  1
lasted 453 steps
max theta 0.866157418715
min theta -0.645198142654
Finished run #246
with a sigma exploration of  1
lasted 317 steps
max theta 0.86755620332
min theta -0.645555360638
Finished run #247
with a sigma exploration of  1
lasted 572 steps
max theta 0.869410026228
min theta -0.64806686625
Finished run #248
with a sigma exploration of  1
lasted 530 steps
max theta 0.871329102622
min theta -0.650242072865
Finished run #249
with a sigma exploration of  1
lasted 643 steps
max theta 0.873246279494
min theta -0.652118198229
Finished run #250
with a sigma exploration of  1
lasted 459 steps
max theta 0.876603697267
min theta -0.65360220816






    













    













    
Out[30]:





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In [11]:

    

car1.alpha_theta *= 0.3
print('alpha theta',car1.alpha_theta)

car1.alpha_w *= 0.3
print('alpha w',car1.alpha_w)

car1.alpha_v *= 0.3
print('alpha v',car1.alpha_v)

car1.start_training(max_episodes=80, dataname = 'dpg_mountain_car', save = True)


    

    




('alpha theta', 0.0003)
('alpha w', 0.003)
('alpha v', 0.003)
Finished run #1
with a sigma exploration of  1
lasted 277 steps
theta
[ 1.          0.67571994  0.62171251  0.61932064  0.85370215  2.88304794
  2.90680732  1.02874218  1.          1.          0.93533027 -0.40186982
  0.60064723  1.07030128  1.1472884   1.18178603  1.56137774  2.61710124
  0.74039369  1.          0.43562434  0.10477241  0.71401968  0.92446377
  1.09545138  1.23711012  1.43388385  1.04849268  0.61060012  1.
  0.05185659 -0.14837462  0.45757139 -0.84218378  2.24720233  3.74619172
  1.86500713  1.2262962   2.08378873  1.00617072  1.00526439 -0.18812149
  0.03167521  0.22664017 -0.99247899  1.19830258  3.40653788  1.30820466
  1.90166545  1.0620894   0.99939357  0.77555847  0.80333561  0.1092426
  0.58037712  1.46013088  1.58103515  1.41113044  3.44745836  0.99983717
  1.          1.04115326  0.26441522  0.42611704  0.81431133  0.94305926
  1.18551241  1.43743579  1.5596602   1.          1.          1.
  1.09358085  0.26830211  0.68756243  0.93419432  1.65306291  1.36808213
  1.0027534   1.          1.          1.          1.          0.97979885
  0.22743208  1.13197329  1.98151652  1.33621175  1.          1.          1.
  1.          1.          1.          1.11007973  0.9828954   1.29449689
  1.00225567  1.          1.        ]
last v [  0.         -21.65112734 -23.13666815 -24.64767978 -24.97479671
 -22.40233974 -20.83189381 -21.12687767   0.           0.          -7.29738553
 -20.90775083 -26.439923   -27.41083057 -27.79377505 -26.67299535
 -24.79549974 -22.11683406 -20.61558191   0.         -13.61073913
 -21.97352716 -27.65575004 -28.54569465 -25.78531647 -26.42967053
 -27.20356892 -25.66284873 -21.71739348   0.         -12.39883807
 -20.42980605 -27.31927515 -26.42860865 -35.09109271 -30.77011524
 -25.10494383 -26.6112652  -19.88119998  -1.64821586  -9.58351466
 -15.52196316 -25.8989137  -27.49903938 -29.09191202 -37.17519606
 -22.71750655 -26.04993788 -19.33957289  -5.21555522  -0.54745429
 -15.01289554 -24.13875289 -25.661825   -27.220272   -27.89850376
 -28.64469882 -24.03330087 -16.67345343  -0.33897684   0.         -13.11241911
 -17.0912193  -21.48078389 -26.05557335 -26.7800843  -24.06308872
 -19.62192732 -17.75602322   0.           0.           0.         -14.89877869
 -16.99475316 -18.72679755 -19.68842983 -18.34620699 -16.38934235
  -4.93633389   0.           0.           0.           0.         -14.35663369
 -17.46495242 -18.83566621 -14.22660277 -10.69688749   0.           0.           0.
   0.           0.           0.          -8.76494546 -10.8686184
  -9.5566818   -0.7309141    0.           0.        ]
beta: 
mu: 
plotting the value function

max theta 3.74619172429
min theta -0.99247898712
Finished run #2
with a sigma exploration of  1
lasted 263 steps
theta
[ 1.          0.67571994  0.62171251  0.61884799  0.85385301  2.88374178
  2.90826677  1.02875981  1.          1.          0.93533027 -0.40186982
  0.60017974  1.07030146  1.14748885  1.1819225   1.56137774  2.6183832
  0.74021486  1.          0.43562434  0.10477241  0.7139073   0.92483152
  1.09542984  1.23711797  1.43413316  1.04856049  0.61055961  1.
  0.05185659 -0.14837462  0.45713311 -0.84425233  2.25054172  3.75021389
  1.86500713  1.22670854  2.0845276   1.00617072  1.00526439 -0.18812149
  0.03052833  0.22623734 -0.99806895  1.1919675   3.40827547  1.30790417
  1.90190862  1.0620894   0.99939357  0.77555847  0.80325629  0.10854549
  0.58014775  1.460252    1.58126103  1.41113044  3.4485869   0.99983717
  1.          1.04115326  0.26441522  0.42611704  0.8140907   0.94294665
  1.18551241  1.43748885  1.5603194   1.          1.          1.
  1.09358085  0.26830211  0.68756243  0.93419432  1.65306291  1.36808656
  1.0027534   1.          1.          1.          1.          0.97979885
  0.22743208  1.13197329  1.98182574  1.33699654  1.          1.          1.
  1.          1.          1.          1.11007973  0.9828954   1.2948592
  1.00225567  1.          1.        ]
last v [  0.         -21.65112734 -23.13666815 -24.66188596 -24.98271177
 -22.40078302 -20.82903622 -21.13207329   0.           0.          -7.29738553
 -20.90775083 -26.45534952 -27.4047998  -27.8011757  -26.68094381
 -24.79549974 -22.11380092 -20.62043128   0.         -13.61073913
 -21.97352716 -27.66307457 -28.55688889 -25.79331325 -26.43636304
 -27.21269787 -25.6685409  -21.718983     0.         -12.39883807
 -20.42980605 -27.3283923  -26.43267782 -35.10414423 -30.78541435
 -25.10494383 -26.6213202  -19.88568297  -1.64821586  -9.58351466
 -15.52196316 -25.91311244 -27.50545084 -29.10881635 -37.13057171
 -22.75554191 -26.04988675 -19.33645918  -5.21555522  -0.54745429
 -15.01289554 -24.14584838 -25.6674051  -27.22324465 -27.90166674
 -28.65587056 -24.03330087 -16.6703424   -0.33897684   0.         -13.11241911
 -17.0912193  -21.48078389 -26.06423609 -26.78617335 -24.06308872
 -19.61503638 -17.76770233   0.           0.           0.         -14.89877869
 -16.99475316 -18.72679755 -19.68842983 -18.34620699 -16.38495313
  -4.93633389   0.           0.           0.           0.         -14.35663369
 -17.46495242 -18.83566621 -14.22362192 -10.7156601    0.           0.           0.
   0.           0.           0.          -8.76494546 -10.8686184
  -9.56691558  -0.7309141    0.           0.        ]
beta: 
mu: 
plotting the value function

max theta 3.75021388915
min theta -0.99806894904
Finished run #3
with a sigma exploration of  1
lasted 252 steps
theta
[ 1.          0.67571994  0.62129543  0.61884799  0.85385301  2.88460619
  2.90972222  1.02879706  1.          1.          0.93533027 -0.4036681
  0.60008738  1.07029186  1.14773045  1.18209349  1.56196768  2.61966865
  0.74003537  1.          0.43562434  0.10383434  0.71376954  0.92512738
  1.09526584  1.23714881  1.43438001  1.04888844  0.61050706  1.
  0.05185659 -0.1503522   0.45658825 -0.84720832  2.25054172  3.75021389
  1.86560076  1.22718669  2.08508132  1.00617072  1.00526439 -0.18916367
  0.02938223  0.22613682 -0.99995243  1.19154467  3.40918057  1.30724714
  1.90223316  1.0620894   0.99939357  0.77546699  0.80301399  0.10784887
  0.57991827  1.4603339   1.58153051  1.41207323  3.44971007  0.99983717
  1.          1.04115326  0.26399732  0.42576632  0.81386597  0.94286162
  1.18595636  1.43775255  1.56076169  1.          1.          1.
  1.09358085  0.26830211  0.68687587  0.93405212  1.65333796  1.36809781
  1.0027534   1.          1.          1.          1.          0.97979885
  0.22743208  1.13197329  1.98252696  1.33699654  1.          1.          1.
  1.          1.          1.          1.11007973  0.98293317  1.29494987
  1.00225567  1.          1.        ]
last v [  0.         -21.65112734 -23.14556174 -24.66188596 -24.98271177
 -22.39879597 -20.8251984  -21.13980127   0.           0.          -7.29738553
 -20.91189954 -26.4591432  -27.41684552 -27.81051976 -26.68617004
 -24.7978484  -22.1206561  -20.62634196   0.         -13.61073913
 -21.96707678 -27.67239713 -28.56262095 -25.81090789 -26.4519141
 -27.21873155 -25.68188849 -21.72323056   0.         -12.39883807
 -20.43297907 -27.33882942 -26.4304611  -35.10414423 -30.78541435
 -25.11659184 -26.63397515 -19.88729379  -1.64821586  -9.58351466
 -15.54181307 -25.91820086 -27.50361355 -29.10225917 -37.10905081
 -22.76496433 -26.05417099 -19.33606754  -5.21555522  -0.54745429
 -15.02170728 -24.13061809 -25.67208069 -27.22584831 -27.90199792
 -28.67062442 -24.0309347  -16.66734055  -0.33897684   0.         -13.11241911
 -17.11826308 -21.47784025 -26.07357196 -26.79099732 -24.06108886
 -19.63053257 -17.77718875   0.           0.           0.         -14.89877869
 -16.99475316 -18.74962289 -19.69993304 -18.34634524 -16.39829669
  -4.93633389   0.           0.           0.           0.         -14.35663369
 -17.46495242 -18.83566621 -14.23631707 -10.7156601    0.           0.           0.
   0.           0.           0.          -8.76494546 -10.88479663
  -9.57329952  -0.7309141    0.           0.        ]
beta: 






    




---------------------------------------------------------------------------
KeyboardInterrupt                         Traceback (most recent call last)
<ipython-input-11-d22068d24857> in <module>()
      8 print('alpha v',car1.alpha_v)
      9 
---> 10 car1.start_training(max_episodes=80, dataname = 'dpg_mountain_car', save = True)

/home/frederik/Dokumente/DeepRL/dpg/moutaincar_dpg.pyc in start_training(self, max_episodes, dataname, save)
    280                 print('last v', self.v)
    281                 print("beta: ")
--> 282                 self.plot_policy(mode= 'stochastic')
    283                 print("mu: ")
    284                 self.plot_policy(mode= 'deterministic')

/home/frederik/Dokumente/DeepRL/dpg/moutaincar_dpg.pyc in plot_policy(self, mode)
    451         ax = fig.add_subplot(111, projection='3d')
    452         X, Y = np.meshgrid(x_range, v_range)
--> 453         ax.plot_surface(X, Y, policy_vals, rstride=1, cstride=1, cmap=cm.jet, linewidth=0.1, antialiased=True)
    454         ax.set_xlabel("x")
    455         ax.set_ylabel("v")

/home/frederik/anaconda2/lib/python2.7/site-packages/mpl_toolkits/mplot3d/axes3d.pyc in plot_surface(self, X, Y, Z, *args, **kwargs)
   1638                 lastp = np.array([])
   1639                 ps2 = [ps[0]] + [ps[i] for i in xrange(1, len(ps)) if ps[i] != ps[i-1]]
-> 1640                 avgzsum = sum(p[2] for p in ps2)
   1641                 polys.append(ps2)
   1642 

/home/frederik/anaconda2/lib/python2.7/site-packages/mpl_toolkits/mplot3d/axes3d.pyc in <genexpr>((p,))
   1638                 lastp = np.array([])
   1639                 ps2 = [ps[0]] + [ps[i] for i in xrange(1, len(ps)) if ps[i] != ps[i-1]]
-> 1640                 avgzsum = sum(p[2] for p in ps2)
   1641                 polys.append(ps2)
   1642 

KeyboardInterrupt: 

In [5]:

    

import matplotlib.pyplot as plt
%matplotlib
car1 = mountaincar_dpg()
car1.loaddata('dpg_mountain_car_iter250')
car1.plot_policy(mode= 'deterministic')


    

    




[2016-06-06 18:01:47,156] Making new env: MountainCarContinuous-v0






    




Using matplotlib backend: Qt4Agg
action limits (array([ 0.]), array([ 2.]))
N_0 50.0
using environment MountainCarContinuous-v0
tile resolution 10.0
gamma 0.99
[ 1.          0.67835728  0.62276976  0.62209078  0.8526459   2.86599393
  2.887229    1.02836613  1.          1.          0.93533027 -0.38809582
  0.6045682   1.0698471   1.14473635  1.17997436  1.55615993  2.59707689
  0.74289175  1.          0.44594718  0.10847247  0.71581806  0.92107525
  1.09654035  1.23673655  1.43051834  1.04543336  0.61158972  1.
  0.06202713 -0.14023047  0.46513577 -0.81585296  2.23711758  3.71232037
  1.85801243  1.22226744  2.06895135  1.00617072  1.00455976 -0.18160138
  0.04829047  0.23244138 -0.96749015  1.25475142  3.37298761  1.31216807
  1.89625168  1.05661102  0.99939357  0.77621888  0.80518055  0.11962489
  0.58241356  1.45858352  1.57595806  1.40786321  3.42616224  0.99983717
  1.          1.04137001  0.27077842  0.42664555  0.81870769  0.94528861
  1.1842359   1.43590492  1.54714103  1.          1.          1.
  1.09332226  0.27452517  0.69129624  0.9348839   1.64996572  1.36786012
  1.00271191  1.          1.          1.          1.          0.97979885
  0.2292072   1.13224935  1.97769483  1.31925871  1.          1.          1.
  1.          1.          1.          1.11007973  0.9828954   1.29067028
  1.0021732   1.          1.        ]
[20001, 12755, 10774, 10457, 3797, 4972, 3839, 963, 2246, 2066, 2250, 1670, 2426, 689, 622, 2121, 1355, 2652, 1379, 2178, 1830, 1402, 573, 799, 1009, 521, 1572, 610, 768, 842, 1365, 1334, 923, 2560, 830, 627, 1124, 370, 885, 1257, 808, 725, 911, 387, 407, 684, 485, 845, 694, 480, 638, 754, 430, 475, 540, 460, 514, 834, 407, 634, 472, 586, 716, 440, 563, 813, 526, 461, 576, 465, 405, 481, 280, 1150, 744, 464, 529, 320, 604, 423, 1011, 467, 535, 359, 456, 379, 290, 459, 442, 718, 479, 348, 513, 631, 370, 386, 374, 848, 533, 375, 357, 290, 295, 290, 318, 563, 305, 579, 320, 288, 497, 372, 285, 396, 483, 288, 288, 366, 376, 313, 419, 398, 295, 368, 370, 398, 510, 407, 474, 450, 276, 207, 304, 374, 358, 412, 262, 397, 374, 382, 379, 367, 288, 459, 287, 483, 287, 370, 389, 321, 371, 442, 286, 328, 282, 203, 291, 239, 315, 375, 287, 418, 278, 296, 455, 327, 289, 288, 511, 214, 281, 359, 392, 310, 239, 342, 380, 306, 339, 300, 242, 289, 295, 283, 298, 211, 376, 310, 347, 230, 232, 278, 219, 287, 314, 277, 286, 280, 295, 294, 330, 287, 280, 282, 231, 319, 301, 210, 315, 331, 291, 230, 363, 331, 322, 477, 324, 211, 232, 292, 279, 290, 170, 279, 292, 214, 286, 186, 303, 401, 279, 194, 290, 193, 228, 175, 289, 323, 283, 232, 373, 225, 201, 269, 275, 231, 295, 226, 277, 242, 206, 193, 291, 197, 195, 196, 285, 251, 376, 276, 199, 275, 235, 281, 244, 241, 291, 241, 304, 222, 203, 306, 268, 221, 202, 274, 297, 280, 367, 250, 245, 197, 224, 198, 188, 253, 307, 214, 204, 189, 160, 279, 212, 274, 272, 191]
[20001, 12755, 10774, 10457, 3797, 4972, 3839, 963, 2246, 2066, 2250, 1670, 2426, 689, 622, 2121, 1355, 2652, 1379, 2178, 1830, 1402, 573, 799, 1009, 521, 1572, 610, 768, 842, 1365, 1334, 923, 2560, 830, 627, 1124, 370, 885, 1257, 808, 725, 911, 387, 407, 684, 485, 845, 694, 480, 638, 754, 430, 475, 540, 460, 514, 834, 407, 634, 472, 586, 716, 440, 563, 813, 526, 461, 576, 465, 405, 481, 280, 1150, 744, 464, 529, 320, 604, 423, 1011, 467, 535, 359, 456, 379, 290, 459, 442, 718, 479, 348, 513, 631, 370, 386, 374, 848, 533, 375, 357, 290, 295, 290, 318, 563, 305, 579, 320, 288, 497, 372, 285, 396, 483, 288, 288, 366, 376, 313, 419, 398, 295, 368, 370, 398, 510, 407, 474, 450, 276, 207, 304, 374, 358, 412, 262, 397, 374, 382, 379, 367, 288, 459, 287, 483, 287, 370, 389, 321, 371, 442, 286, 328, 282, 203, 291, 239, 315, 375, 287, 418, 278, 296, 455, 327, 289, 288, 511, 214, 281, 359, 392, 310, 239, 342, 380, 306, 339, 300, 242, 289, 295, 283, 298, 211, 376, 310, 347, 230, 232, 278, 219, 287, 314, 277, 286, 280, 295, 294, 330, 287, 280, 282, 231, 319, 301, 210, 315, 331, 291, 230, 363, 331, 322, 477, 324, 211, 232, 292, 279, 290, 170, 279, 292, 214, 286, 186, 303, 401, 279, 194, 290, 193, 228, 175, 289, 323, 283, 232, 373, 225, 201, 269, 275, 231, 295, 226, 277, 242, 206, 193, 291, 197, 195, 196, 285, 251, 376, 276, 199, 275, 235, 281, 244, 241, 291, 241, 304, 222, 203, 306, 268, 221, 202, 274, 297, 280, 367, 250, 245, 197, 224, 198, 188, 253, 307, 214, 204, 189, 160, 279, 212, 274, 272, 191]

In [3]:

    

car1.plot_value_function()


    

    




plotting the value function

In [9]:

    

len(car1.run_target_episode(enable_render= True))


    

    
Out[9]:





154