The AI can navigate around a room between way points using fwd/cw/ccw controls. OpenAI games are in place but sync issues are not debugged yet.
Curriculum training is accomplished with progressive goals designed to help the agent to learn specific actions, and to allow it to discover the importance of prerequisite state requirements, from which it builds plans to meet objectives with.
After training this agent demonstrated, upon receiving an internal motivation to charge its battery (‘low-battery’ alarm), the ability to find a charger, connect to it, charge, disconnect, and continue on.
The AI can navigate around a cluttered room using fwd/cw/ccw movements to a series of waypoints in level0-6.csv, but it cannot intentionally navigate around large obstacles. OpenAI games CartPole_v0, MountainCar_v0, and LunarLander_v2 are implemented as world objects and the agent can navigate to and play these games, with varied success. The agent has been observed to make perfect landings in LunarLander_v2, and has scored above the threshold on the other games within a few tries (less than 4 generally), however consistency is lacking after initial successes.
The AI was given 4 waypoint goals (state = ‘GPS’) in Level 0-0, and it was able to learn how to navigate rapidly (within about 10 steps), and then navigated to each of the 4 goal locations using a simple difference planning engine, which was kind of a hack but was added to the AI for the purpose of demonstrating that the CE/CM works.
The AI was designed to play OpenAI Cartpole-v0. It was not consistent however – usually performing moderately well, on occasion performing very well. Sometimes it performed terribly. Typically though it was able to reach an average of 195 steps in a 500-run test.
Version v0.1 was a move from C# in the Unity3D environment to python, since much of the AI community uses python, it seemed a good shift. The agent was based on a very simplified rlpAI architecture with a scikit-learn MLP Classifier as the centerpiece.
The agent trained the classifier (state input, action output) with some of the results of prior episodes. In the best test, the agent reached 200 steps in less than the first 10 episodes, then hit 200 steps on every episode after that for 500 episodes (bottom right chart).
Vertical axis: Number of steps completed in the Cartpole-V0 game. Horizontal axis: Episode number.