more efficient; remove pyc

UMich-CURLY · Nov 22, 2018 · 1edb5b7 · 1edb5b7
1 parent 6233565
commit 1edb5b7
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Showing 18 changed files with 4 additions and 4 deletions.
diff --git a/demo.py b/demo.py
@@ -77,7 +77,7 @@ def load(grid_size):
 sns.heatmap(r, cmap='viridis')
 plt.show()
 r_vector = r.reshape(n_states) # convert 2D reward matrix to a 1D vector
-value_vector = model.find_optimal_value(r_vector, 0.005)
+value_vector = model.find_optimal_value(r_vector, 0.1)
 policy = model.find_stochastic_policy(value_vector, r_vector)
 past_traj_len = past_traj.shape[0]
 svf_vector = model.find_svf_demo(policy, past_traj_len)

diff --git a/loader/__init__.pyc b/loader/__init__.pyc
diff --git a/loader/__pycache__/__init__.cpython-36.pyc b/loader/__pycache__/__init__.cpython-36.pyc
diff --git a/loader/__pycache__/offroad_loader.cpython-36.pyc b/loader/__pycache__/offroad_loader.cpython-36.pyc
diff --git a/loader/__pycache__/util.cpython-36.pyc b/loader/__pycache__/util.cpython-36.pyc
diff --git a/loader/offroad_loader.pyc b/loader/offroad_loader.pyc
diff --git a/mdp/__init__.pyc b/mdp/__init__.pyc
diff --git a/mdp/__pycache__/__init__.cpython-36.pyc b/mdp/__pycache__/__init__.cpython-36.pyc
diff --git a/mdp/__pycache__/offroad_grid.cpython-36.pyc b/mdp/__pycache__/offroad_grid.cpython-36.pyc
diff --git a/mdp/offroad_grid.py b/mdp/offroad_grid.py
@@ -229,6 +229,7 @@ def find_optimal_value(self, reward, thresh=0.005):
         :param reward: numpy array (n_states)
         :return:
         """
+        start = time.clock()
         value = np.zeros(self.n_states)
         step = 0
         import warnings
@@ -239,8 +240,7 @@ def find_optimal_value(self, reward, thresh=0.005):
 
             for s in range(self.n_states):
                 next_s_list = [self.transit_table[s, a] for a in range(self.n_actions)]
-                r_list = [reward[s] + self.discount * value[ss] for ss in next_s_list]
-                new_v = max(r_list)
+                new_v = reward[s] + max([self.discount * value[ss] for ss in next_s_list])
 
                 # find the largest update through out the whole sweep over all states
                 max_update = max(max_update, abs(value[s] - new_v))
@@ -250,7 +250,7 @@ def find_optimal_value(self, reward, thresh=0.005):
                 warnings.warn('value iteration does not converge', RuntimeWarning)
                 break
 
-        print('find_optimal_value. iteration {}, last update {}'.format(step, max_update))
+        print('find_optimal_value. iter {}, last update {:.2f}, took {:.2f}'.format(step, max_update, time.clock()-start))
         return value
 
     def select_action(self, s, value, epsilon):

diff --git a/mdp/offroad_grid.pyc b/mdp/offroad_grid.pyc
diff --git a/network/__init__.pyc b/network/__init__.pyc
diff --git a/network/__pycache__/__init__.cpython-36.pyc b/network/__pycache__/__init__.cpython-36.pyc
diff --git a/network/__pycache__/hybrid_dilated.cpython-36.pyc b/network/__pycache__/hybrid_dilated.cpython-36.pyc
diff --git a/network/__pycache__/hybrid_fcn.cpython-36.pyc b/network/__pycache__/hybrid_fcn.cpython-36.pyc
diff --git a/network/__pycache__/simple_fcn.cpython-36.pyc b/network/__pycache__/simple_fcn.cpython-36.pyc
diff --git a/network/__pycache__/simple_nn.cpython-36.pyc b/network/__pycache__/simple_nn.cpython-36.pyc
diff --git a/network/hybrid_fcn.pyc b/network/hybrid_fcn.pyc