Seunghoon Shin
20210305
Diff: main.cpp
- Revision:
- 176:589ea3edcf3c
- Parent:
- 175:2f7289dbd488
- Child:
- 177:8e9cf31d63f4
--- a/main.cpp Tue Nov 24 08:15:29 2020 +0000
+++ b/main.cpp Tue Nov 24 10:16:10 2020 +0000
@@ -1,4 +1,4 @@
-//201124_3
+//201124_4
#include "mbed.h"
#include "FastPWM.h"
#include "INIT_HW.h"
@@ -610,10 +610,10 @@
float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
float G_ba1[num_hidden_unit1] = {0.0f};
- float d_x_d_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
- float d_x_d_ba1[num_hidden_unit1] = {0.0f};
- float d_y_d_ha1[num_input_RL][num_hidden_unit1] = {0.0f};
- float d_y_d_ba1[num_hidden_unit1] = {0.0f};
+ float d_x_d_ha1[batch_size][num_input_RL][num_hidden_unit1] = {0.0f};
+ float d_x_d_ba1[batch_size][num_hidden_unit1] = {0.0f};
+ float d_y_d_ha1[batch_size][num_input_RL][num_hidden_unit1] = {0.0f};
+ float d_y_d_ba1[batch_size][num_hidden_unit1] = {0.0f};
for (int index2 = 0; index2 < num_hidden_unit1; index2++) {
for (int index1 = 0; index1 < num_input_RL; index1++) {
@@ -624,20 +624,20 @@
for(int k=0; k<num_hidden_unit2; k++) {
if (hxh_a_sum_array[n][k] >= 0) {
if (hx_a_sum_array[n][index2] > 0) {
- d_x_d_ha1[index1][index2] = d_x_d_ha1[index1][index2] + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
- d_y_d_ha1[index1][index2] = d_y_d_ha1[index1][index2] + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
+ d_x_d_ha1[n][index1][index2] = d_x_d_ha1[n][index1][index2] + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0];
+ d_y_d_ha1[n][index1][index2] = d_y_d_ha1[n][index1][index2] + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1];
}
}
}
float d_mean_d_ha1 = 0.0f;
float d_dev_d_ha1 = 0.0f;
- d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1[index1][index2];
- d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1[index1][index2];
+ d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1[n][index1][index2];
+ d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1[n][index1][index2];
G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
}
}
- G_ha1[index1][index2] = G_ha1[index1][index2] / batch_size;
+ G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size;
//ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate * G_ha1[index1][index2];
}
@@ -648,29 +648,29 @@
for(int k=0; k<num_hidden_unit2; k++) {
if (hxh_a_sum_array[n][k] >= 0) {
if (hx_a_sum_array[n][index2] > 0) {
- d_x_d_ba1[index2] = d_x_d_ba1[index2] + ha2_temp[index2][k]*ha3_temp[k][0];
- d_y_d_ba1[index2] = d_y_d_ba1[index2] + ha2_temp[index2][k]*ha3_temp[k][1];
+ d_x_d_ba1[n][index2] = d_x_d_ba1[n][index2] + ha2_temp[index2][k]*ha3_temp[k][0];
+ d_y_d_ba1[n][index2] = d_y_d_ba1[n][index2] + ha2_temp[index2][k]*ha3_temp[k][1];
}
}
}
float d_mean_d_ba1 = 0.0f;
float d_dev_d_ba1 = 0.0f;
- d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1[index2];
- d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1[index2];
+ d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1[n][index2];
+ d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1[n][index2];
G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
}
}
- G_ba1[index2] = G_ba1[index2] / batch_size;
+ G_ba1[index2] = -G_ba1[index2] / batch_size;
//ba1_temp[index2] = ba1_temp[index2] - gradient_rate * G_ba1[index2];
}
float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
float G_ba2[num_hidden_unit2] = {0.0f};
- float d_x_d_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
- float d_x_d_ba2[num_hidden_unit2] = {0.0f};
- float d_y_d_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f};
- float d_y_d_ba2[num_hidden_unit2] = {0.0f};
+ float d_x_d_ha2[batch_size][num_hidden_unit1][num_hidden_unit2] = {0.0f};
+ float d_x_d_ba2[batch_size][num_hidden_unit2] = {0.0f};
+ float d_y_d_ha2[batch_size][num_hidden_unit1][num_hidden_unit2] = {0.0f};
+ float d_y_d_ba2[batch_size][num_hidden_unit2] = {0.0f};
for (int index2 = 0; index2 < num_hidden_unit2; index2++) {
for (int index1 = 0; index1 < num_hidden_unit1; index1++) {
@@ -678,23 +678,22 @@
if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
G_ha2[index1][index2] = G_ha2[index1][index2];
} else {
-
if (hxh_a_sum_array[n][index2] >= 0) {
if (hx_a_sum_array[n][index1] > 0) {
- d_x_d_ha2[index1][index2] = d_x_d_ha2[index1][index2] + hx_a_sum_array[n][index1]*ha3_temp[index2][0];
- d_y_d_ha2[index1][index2] = d_y_d_ha2[index1][index2] + hx_a_sum_array[n][index1]*ha3_temp[index2][1];
+ d_x_d_ha2[n][index1][index2] = hx_a_sum_array[n][index1]*ha3_temp[index2][0];
+ d_y_d_ha2[n][index1][index2] = hx_a_sum_array[n][index1]*ha3_temp[index2][1];
}
}
float d_mean_d_ha2 = 0.0f;
float d_dev_d_ha2 = 0.0f;
- d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2[index1][index2];
- d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2[index1][index2];
+ d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2[n][index1][index2];
+ d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2[n][index1][index2];
G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
}
}
- G_ha2[index1][index2] = G_ha2[index1][index2] / batch_size;
+ G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size;
//ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate * G_ha2[index1][index2];
}
@@ -704,27 +703,27 @@
} else {
if (hxh_a_sum_array[n][index2] >= 0) {
- d_x_d_ba2[index2] = d_x_d_ba2[index2] + ha3_temp[index2][0];
- d_y_d_ba2[index2] = d_y_d_ba2[index2] + ha3_temp[index2][1];
+ d_x_d_ba2[n][index2] = ha3_temp[index2][0];
+ d_y_d_ba2[n][index2] = ha3_temp[index2][1];
}
float d_mean_d_ba2= 0.0f;
float d_dev_d_ba2= 0.0f;
- d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2[index2];
- d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2[index2];
+ d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2[n][index2];
+ d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2[n][index2];
G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
}
}
- G_ba2[index2] = G_ba2[index2] / batch_size;
+ G_ba2[index2] = -G_ba2[index2] / batch_size;
//ba2_temp[index2] = ba2_temp[index2] - gradient_rate * G_ba2[index2];
}
float G_ha3[num_hidden_unit2][2] = {0.0f};
float G_ba3[2] = {0.0f};
- float d_x_d_ha3[num_hidden_unit2][2] = {0.0f};
- float d_x_d_ba3[2] = {0.0f};
- float d_y_d_ha3[num_hidden_unit2][2] = {0.0f};
- float d_y_d_ba3[2] = {0.0f};
+ float d_x_d_ha3[batch_size][num_hidden_unit2][2] = {0.0f};
+ float d_x_d_ba3[batch_size][2] = {0.0f};
+ float d_y_d_ha3[batch_size][num_hidden_unit2][2] = {0.0f};
+ float d_y_d_ba3[batch_size][2] = {0.0f};
for (int index2 = 0; index2 < 2; index2++) {
for (int index1 = 0; index1 < num_hidden_unit2; index1++) {
@@ -732,22 +731,21 @@
if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) {
G_ha3[index1][index2] = G_ha3[index1][index2];
} else {
-
if (hxh_a_sum_array[n][index1] >= 0) {
if (hx_a_sum_array[n][index1] > 0) {
- d_x_d_ha3[index1][index2] = d_x_d_ha3[index1][index2] + hxh_a_sum_array[n][index1];
- d_y_d_ha3[index1][index2] = d_y_d_ha3[index1][index2] + hxh_a_sum_array[n][index1];
+ d_x_d_ha3[n][index1][index2] = hxh_a_sum_array[n][index1];
+ d_y_d_ha3[n][index1][index2] = hxh_a_sum_array[n][index1];
}
}
float d_mean_d_ha3 = 0.0f;
float d_dev_d_ha3 = 0.0f;
- d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3[index1][index2];
- d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3[index1][index2];
+ d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3[n][index1][index2];
+ d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3[n][index1][index2];
G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
}
}
- G_ha3[index1][index2] = G_ha3[index1][index2] / batch_size;
+ G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size;
//ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate * G_ha3[index1][index2];
}
@@ -756,18 +754,18 @@
G_ba3[index2] = G_ba3[index2];
} else {
- d_x_d_ba3[index2] = d_x_d_ba3[index2] + 1.0f;
- d_y_d_ba3[index2] = d_y_d_ba3[index2] + 1.0f;
+ d_x_d_ba3[n][index2] = 1.0f;
+ d_y_d_ba3[n][index2] = 1.0f;
float d_mean_d_ba3= 0.0f;
float d_dev_d_ba3= 0.0f;
- d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3[index2];
- d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3[index2];
+ d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3[n][index2];
+ d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3[n][index2];
G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n]));
}
}
- G_ba3[index2] = G_ba3[index2] / batch_size;
+ G_ba3[index2] = -G_ba3[index2] / batch_size;
//ba3_temp[index2] = ba3_temp[index2] - gradient_rate * G_ba3[index2];
}