/*
This?is?an?example?program?for?reinforcement?learning?with?linear?
function?approximation.??The?code?follows?the?psuedo-code?for?linear?
gradient-descent?Sarsa（lambda）?given?in?Figure?8.8?of?the?book?
“Reinforcement?Learning:?An?Introduction“?by?Sutton?and?Barto.
One?difference?is?that?we?use?the?implementation?trick?mentioned?on?
page?189?to?only?keep?track?of?the?traces?that?are?larger?
than?“min-trace“.?

Before?running?the?program?you?need?to?obtain?the?tile-coding?
software?available?at?http://envy.cs.umass.edu/~rich/tiles.C?and?tiles.h
（see?http://envy.cs.umass.edu/~rich/tiles.html?for?documentation）.

The?code?below?is?in?three?main?parts:?1）?Mountain?Car?code?2）?General?
RL?code?and?3）?top-level?code?and?misc.

Written?by?Rich?Sutton?12/19/00
?*/

#include?
#include?“tiles.h“
#include?“stdio.h“
#include?“stdlib.h“
#include?
#include?
#include?

//////////?????Part?1:?Mountain?Car?code?????//////////////

//?Global?variables:
float?mcar_position?mcar_velocity;???????//位置和速度值

#define?mcar_min_position?-1.2
#define?mcar_max_position?0.6
#define?mcar_max_velocity?0.07????????????//?the?negative?of?this?in?the?minimum?velocity
#define?mcar_goal_position?0.5

#define?POS_WIDTH?（1.7?/?8）???????????????//?the?tile?width?for?position
#define?VEL_WIDTH?（0.14?/?8）??????????????//?the?tile?width?for?velocity

//?Profiles
void?MCarInit（）;??????????????????????????????//?initialize?car?state
void?MCarStep（int?a）;?????????????????????????//?update?car?state?for?given?action
bool?MCarAtGoal?（）;???????????????????????????//?is?car?at?goal?

void?MCarInit（）
//?Initialize?state?of?Car
??{?mcar_position?=?-0.5;
????mcar_velocity?=?0.0;}

void?MCarStep（int?a）
//?Take?action?a?update?state?of?car
??{?mcar_velocity?+=?（a-1）*0.001?+?cos（3*mcar_position）*（-0.0025）;
????if?（mcar_velocity?>?mcar_max_velocity）?mcar_velocity?=?mcar_max_velocity;
????if?（mcar_velocity?????mcar_position?+=?mcar_velocity;
????if?（mcar_position?>?mcar_max_position）?mcar_position?=?mcar_max_position;
????if?（mcar_position?????if?（mcar_position==mcar_min_position?&&?mcar_velocity<0）?mcar_velocity?=?0;}

bool?MCarAtGoal?（）
//?Is?Car?within?goal?region?
??{?return?mcar_position?>=?mcar_goal_position;}
??
??
//////////?????Part?2:?Semi-General?RL?code?????//////////////

#define?MEMORY_SIZE?10000????????????????????????//?number?of?parameters?to?theta?memory?size
#define?NUM_ACTIONS?3????????????????????????????//?number?of?actions
#define?NUM_TILINGS?10

//?Global?RL?variables:
float?Q[NUM_ACTIONS];????????????????????????????//?action?values
float?theta[MEMORY_SIZE];????????????????????????//?modifyable?parameter?vector?aka?memory?weights
float?e[MEMORY_SIZE];????????????????????????????//?eligibility?traces??資格軌跡
int?F[NUM_ACTIONS][NUM_TILINGS];???????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????13541??2015-08-24?10:28??mountaincar1.cpp

?????文件???????4306??2015-08-24?10:29??tiles.C

?????文件????????339??2015-08-20?09:42??tiles.h

-----------?---------??----------?-----??----

????????????????18186????????????????????3