Quadcopter_project.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Project: Train a Quadcopter How to Fly\n",
    "\n",
    "Design an agent to fly a quadcopter, and then train it using a reinforcement learning algorithm of your choice! \n",
    "\n",
    "Try to apply the techniques you have learnt, but also feel free to come up with innovative ideas and test them."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Instructions\n",
    "\n",
    "Take a look at the files in the directory to better understand the structure of the project. \n",
    "\n",
    "- `task.py`: Define your task (environment) in this file.\n",
    "- `agents/`: Folder containing reinforcement learning agents.\n",
    "    - `policy_search.py`: A sample agent has been provided here.\n",
    "    - `agent.py`: Develop your agent here.\n",
    "- `physics_sim.py`: This file contains the simulator for the quadcopter.  **DO NOT MODIFY THIS FILE**.\n",
    "\n",
    "For this project, you will define your own task in `task.py`.  Although we have provided a example task to get you started, you are encouraged to change it.  Later in this notebook, you will learn more about how to amend this file.\n",
    "\n",
    "You will also design a reinforcement learning agent in `agent.py` to complete your chosen task.  \n",
    "\n",
    "You are welcome to create any additional files to help you to organize your code.  For instance, you may find it useful to define a `model.py` file defining any needed neural network architectures.\n",
    "\n",
    "## Controlling the Quadcopter\n",
    "\n",
    "We provide a sample agent in the code cell below to show you how to use the sim to control the quadcopter.  This agent is even simpler than the sample agent that you'll examine (in `agents/policy_search.py`) later in this notebook!\n",
    "\n",
    "The agent controls the quadcopter by setting the revolutions per second on each of its four rotors.  The provided agent in the `Basic_Agent` class below always selects a random action for each of the four rotors.  These four speeds are returned by the `act` method as a list of four floating-point numbers.  \n",
    "\n",
    "For this project, the agent that you will implement in `agents/agent.py` will have a far more intelligent method for selecting actions!"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import random\n",
    "\n",
    "class Basic_Agent():\n",
    "    def __init__(self, task):\n",
    "        self.task = task\n",
    "    \n",
    "    def act(self):\n",
    "        new_thrust = random.gauss(450., 25.)\n",
    "        return [new_thrust + random.gauss(0., 2.) for x in range(4)]"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Run the code cell below to have the agent select actions to control the quadcopter.  \n",
    "\n",
    "Feel free to change the provided values of `runtime`, `init_pose`, `init_velocities`, and `init_angle_velocities` below to change the starting conditions of the quadcopter.\n",
    "\n",
    "The `labels` list below annotates statistics that are saved while running the simulation.  All of this information is saved in a text file `data.txt` and stored in the dictionary `results`.  "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "%load_ext autoreload\n",
    "%autoreload 2\n",
    "\n",
    "import csv\n",
    "import numpy as np\n",
    "from task import Task\n",
    "\n",
    "# Modify the values below to give the quadcopter a different starting position.\n",
    "runtime = 5.                                     # time limit of the episode\n",
    "init_pose = np.array([-2., 3., 0., 0., 0., 0.])  # initial pose\n",
    "init_velocities = np.array([0., 0., 0.])         # initial velocities\n",
    "init_angle_velocities = np.array([0., 0., 0.])   # initial angle velocities\n",
    "file_output = 'data.txt'                         # file name for saved results\n",
    "\n",
    "# Setup\n",
    "task = Task(init_pose, init_velocities, init_angle_velocities, runtime)\n",
    "agent = Basic_Agent(task)\n",
    "done = False\n",
    "labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',\n",
    "          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',\n",
    "          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4']\n",
    "results = {x : [] for x in labels}\n",
    "\n",
    "# Run the simulation, and save the results.\n",
    "with open(file_output, 'w') as csvfile:\n",
    "    writer = csv.writer(csvfile)\n",
    "    writer.writerow(labels)\n",
    "    while True:\n",
    "        rotor_speeds = agent.act()\n",
    "        _, _, done = task.step(rotor_speeds)\n",
    "        to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list(rotor_speeds)\n",
    "        for ii in range(len(labels)):\n",
    "            results[labels[ii]].append(to_write[ii])\n",
    "        writer.writerow(to_write)\n",
    "        if done:\n",
    "            break"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Run the code cell below to visualize how the position of the quadcopter evolved during the simulation."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x1fc6a6d8b00>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline\n",
    "\n",
    "plt.plot(results['time'], results['x'], label='x')\n",
    "plt.plot(results['time'], results['y'], label='y')\n",
    "plt.plot(results['time'], results['z'], label='z')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The next code cell visualizes the velocity of the quadcopter."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x1fc6a6d8550>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(results['time'], results['x_velocity'], label='x_hat')\n",
    "plt.plot(results['time'], results['y_velocity'], label='y_hat')\n",
    "plt.plot(results['time'], results['z_velocity'], label='z_hat')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Next, you can plot the Euler angles (the rotation of the quadcopter over the $x$-, $y$-, and $z$-axes),"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x1fc6b4e5908>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(results['time'], results['phi'], label='phi')\n",
    "plt.plot(results['time'], results['theta'], label='theta')\n",
    "plt.plot(results['time'], results['psi'], label='psi')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "before plotting the velocities (in radians per second) corresponding to each of the Euler angles."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x1fc6b579b38>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(results['time'], results['phi_velocity'], label='phi_velocity')\n",
    "plt.plot(results['time'], results['theta_velocity'], label='theta_velocity')\n",
    "plt.plot(results['time'], results['psi_velocity'], label='psi_velocity')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Finally, you can use the code cell below to print the agent's choice of actions.  "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x1fc6b58bda0>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(results['time'], results['rotor_speed1'], label='Rotor 1 revolutions / second')\n",
    "plt.plot(results['time'], results['rotor_speed2'], label='Rotor 2 revolutions / second')\n",
    "plt.plot(results['time'], results['rotor_speed3'], label='Rotor 3 revolutions / second')\n",
    "plt.plot(results['time'], results['rotor_speed4'], label='Rotor 4 revolutions / second')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "When specifying a task, you will derive the environment state from the simulator.  Run the code cell below to print the values of the following variables at the end of the simulation:\n",
    "- `task.sim.pose` (the position of the quadcopter in ($x,y,z$) dimensions and the Euler angles),\n",
    "- `task.sim.v` (the velocity of the quadcopter in ($x,y,z$) dimensions), and\n",
    "- `task.sim.angular_v` (radians/second for each of the three Euler angles)."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[ 12.21790333  11.8304536   13.56015535   0.76398851   5.31948648   0.        ]\n",
      "[ 11.46173145   7.49583855  -2.6558744 ]\n",
      "[ 0.16590969 -0.19390532  0.        ]\n"
     ]
    }
   ],
   "source": [
    "# the pose, velocity, and angular velocity of the quadcopter at the end of the episode\n",
    "print(task.sim.pose)\n",
    "print(task.sim.v)\n",
    "print(task.sim.angular_v)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "In the sample task in `task.py`, we use the 6-dimensional pose of the quadcopter to construct the state of the environment at each timestep.  However, when amending the task for your purposes, you are welcome to expand the size of the state vector by including the velocity information.  You can use any combination of the pose, velocity, and angular velocity - feel free to tinker here, and construct the state to suit your task.\n",
    "\n",
    "## The Task\n",
    "\n",
    "A sample task has been provided for you in `task.py`.  Open this file in a new window now. \n",
    "\n",
    "The `__init__()` method is used to initialize several variables that are needed to specify the task.  \n",
    "- The simulator is initialized as an instance of the `PhysicsSim` class (from `physics_sim.py`).  \n",
    "- Inspired by the methodology in the original DDPG paper, we make use of action repeats.  For each timestep of the agent, we step the simulation `action_repeats` timesteps.  If you are not familiar with action repeats, please read the **Results** section in [the DDPG paper](https://arxiv.org/abs/1509.02971).\n",
    "- We set the number of elements in the state vector.  For the sample task, we only work with the 6-dimensional pose information.  To set the size of the state (`state_size`), we must take action repeats into account.  \n",
    "- The environment will always have a 4-dimensional action space, with one entry for each rotor (`action_size=4`). You can set the minimum (`action_low`) and maximum (`action_high`) values of each entry here.\n",
    "- The sample task in this provided file is for the agent to reach a target position.  We specify that target position as a variable.\n",
    "\n",
    "The `reset()` method resets the simulator.  The agent should call this method every time the episode ends.  You can see an example of this in the code cell below.\n",
    "\n",
    "The `step()` method is perhaps the most important.  It accepts the agent's choice of action `rotor_speeds`, which is used to prepare the next state to pass on to the agent.  Then, the reward is computed from `get_reward()`.  The episode is considered done if the time limit has been exceeded, or the quadcopter has travelled outside of the bounds of the simulation.\n",
    "\n",
    "In the next section, you will learn how to test the performance of an agent on this task."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## The Agent\n",
    "\n",
    "The sample agent given in `agents/policy_search.py` uses a very simplistic linear policy to directly compute the action vector as a dot product of the state vector and a matrix of weights. Then, it randomly perturbs the parameters by adding some Gaussian noise, to produce a different policy. Based on the average reward obtained in each episode (`score`), it keeps track of the best set of parameters found so far, how the score is changing, and accordingly tweaks a scaling factor to widen or tighten the noise.\n",
    "\n",
    "Run the code cell below to see how the agent performs on the sample task."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Episode = 1000, score = -250.000 (best =  69.000), noise_scale = 3.25"
     ]
    }
   ],
   "source": [
    "import sys\n",
    "import pandas as pd\n",
    "from agents.policy_search import PolicySearch_Agent\n",
    "from task import Task\n",
    "\n",
    "num_episodes = 1000\n",
    "target_pos = np.array([0., 0., 100.])\n",
    "task = Task(target_pos=target_pos)\n",
    "agent = PolicySearch_Agent(task) \n",
    "labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',\n",
    "          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',\n",
    "          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4','reward']\n",
    "results_b = {x : [] for x in labels}\n",
    "score_dynamics= {'episode':[], 'score':[]}\n",
    "temp_score = []\n",
    "score = 0\n",
    "best_score = 0\n",
    "\n",
    "for i_episode in range(1, num_episodes+1):\n",
    "    score = 0\n",
    "    state = agent.reset_episode() # start a new episode\n",
    "    while True:\n",
    "        action = agent.act(state) \n",
    "        next_state, reward, done = task.step(action)\n",
    "        \n",
    "        #add up reward for current episode\n",
    "        score += reward\n",
    "        \n",
    "        save = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) \\\n",
    "               + list(action)+[reward] \n",
    "        for k in range(len(labels)):\n",
    "            results_b[labels[k]].append(save[k])\n",
    "            \n",
    "        agent.step(reward, done)\n",
    "        \n",
    "        state = next_state\n",
    "        if done:\n",
    "            \n",
    "            #store total reward for current episode\n",
    "            temp_score.append(score) \n",
    "            \n",
    "            #update best_score\n",
    "            if score > best_score:\n",
    "                best_score = score\n",
    "                \n",
    "            print(\"\\rEpisode = {:4d}, score = {:7.3f} (best = {:7.3f}), noise_scale = {}\".format(\n",
    "                i_episode, score, best_score, agent.noise_scale), end=\"\")  # [debug]\n",
    "            score_dynamics['episode'].append(i_episode)\n",
    "            score_dynamics['score'].append(np.mean(temp_score))\n",
    "            break\n",
    "    sys.stdout.flush()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x1fc6dcfe080>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline\n",
    "\n",
    "plt.plot(score_dynamics['episode'], score_dynamics['score'])\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x1fc6b60a240>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline\n",
    "\n",
    "plt.plot(results_b['time'], results_b['x'], label='x')\n",
    "plt.plot(results_b['time'], results_b['y'], label='y')\n",
    "plt.plot(results_b['time'], results_b['z'], label='z')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x1fc6dc7de48>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(results_b['time'], results_b['phi'], label='phi')\n",
    "plt.plot(results_b['time'], results_b['theta'], label='theta')\n",
    "plt.plot(results_b['time'], results_b['psi'], label='psi')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x1fc6dc11208>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(results_b['time'], results_b['rotor_speed1'], label='Rotor 1 revolutions / second')\n",
    "plt.plot(results_b['time'], results_b['rotor_speed2'], label='Rotor 2 revolutions / second')\n",
    "plt.plot(results_b['time'], results_b['rotor_speed3'], label='Rotor 3 revolutions / second')\n",
    "plt.plot(results_b['time'], results_b['rotor_speed4'], label='Rotor 4 revolutions / second')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "This agent should perform very poorly on this task.  And that's where you come in!"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "collapsed": true
   },
   "source": [
    "## Define the Task, Design the Agent, and Train Your Agent!\n",
    "\n",
    "Amend `task.py` to specify a task of your choosing.  If you're unsure what kind of task to specify, you may like to teach your quadcopter to takeoff, hover in place, land softly, or reach a target pose.  \n",
    "\n",
    "After specifying your task, use the sample agent in `agents/policy_search.py` as a template to define your own agent in `agents/agent.py`.  You can borrow whatever you need from the sample agent, including ideas on how you might modularize your code (using helper methods like `act()`, `learn()`, `reset_episode()`, etc.).\n",
    "\n",
    "Note that it is **highly unlikely** that the first agent and task that you specify will learn well.  You will likely have to tweak various hyperparameters and the reward function for your task until you arrive at reasonably good behavior.\n",
    "\n",
    "As you develop your agent, it's important to keep an eye on how it's performing. Use the code above as inspiration to build in a mechanism to log/save the total rewards obtained in each episode to file.  If the episode rewards are gradually increasing, this is an indication that your agent is learning."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "Using TensorFlow backend.\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
      "reward clip : 1\n",
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      "this is episode  30 ; 47.30462121963501  secods passed\n",
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      "this is episode  60 ; 52.63258099555969  secods passed\n",
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    },
    {
     "name": "stdout",
     "output_type": "stream",
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     ]
    }
   ],
   "source": [
    "## TODO: Train your agent here.\n",
    "## agent training done using deep deterministic policy gradient (DDPG)\n",
    "import sys\n",
    "import csv\n",
    "import time\n",
    "import pandas as pd\n",
    "import numpy as np\n",
    "from agents.agent_modified import DDPG\n",
    "from task import Task\n",
    "\n",
    "t0 = time.time()\n",
    "labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',\n",
    "          'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',\n",
    "          'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4','reward']\n",
    "results = {x : [] for x in labels}\n",
    "\n",
    "num_episodes = 300 #start with one then move to 1000\n",
    "\n",
    "#initialize quadcopter position and velocities\n",
    "target_pos = np.array([0., 0., 50.])\n",
    "init_pose = np.zeros(6)\n",
    "init_velocities= np.zeros(3)\n",
    "init_angle_velocities=np.zeros(3)\n",
    "\n",
    "#call task and agent\n",
    "task = Task(init_pose= init_pose,init_velocities = init_velocities, \n",
    "            init_angle_velocities=init_angle_velocities,target_pos=target_pos)\n",
    "agent = DDPG(task) \n",
    "\n",
    "#initialize score keeper\n",
    "score_dynamics= {'episode':[], 'score':[]}\n",
    "temp_score = []\n",
    "score = 0\n",
    "best_score = 0\n",
    "\n",
    "for i_episode in range(1, num_episodes+1):\n",
    "    state = agent.reset_episode() # start a new episode\n",
    "    score = 0\n",
    "    #print('state ', state, 'episode ', i_episode)\n",
    "    if (i_episode % 30 == 0):\n",
    "        print('this is episode ' ,i_episode, ';', time.time()-t0,' secods passed')\n",
    "    \n",
    "    # run till a terminal state is encoutered\n",
    "    for time_t in range(90):\n",
    "        \n",
    "        #get action based on current state following current policy \n",
    "        action = agent.act(state) \n",
    "        #print('action ', action)\n",
    "        \n",
    "        \n",
    "        \n",
    "        #action-reaction: get new state and rewad \n",
    "        # in reaction to taken action\n",
    "        next_state, reward, done = task.step(action)\n",
    "        \n",
    "        #add up reward for current episode\n",
    "        score += reward\n",
    "        \n",
    "        # save episode  into the replay buffer\n",
    "        # once enough episodes are stored in memory\n",
    "        # minibatch is sampled and learning from these\n",
    "        # takes place\n",
    "        agent.step(action, reward, next_state, done)\n",
    "        \n",
    "        \n",
    "        save = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) \\\n",
    "               + list(action)+[reward] \n",
    "        for k in range(len(labels)):\n",
    "            results[labels[k]].append(save[k])\n",
    "        \n",
    "        state = next_state\n",
    "        \n",
    "        if done:\n",
    "            \n",
    "            #store total reward for current episode\n",
    "            temp_score.append(score) \n",
    "            \n",
    "            #update best_score\n",
    "            if score > best_score:\n",
    "                best_score = score\n",
    "                \n",
    "            # print the score and break out of the loop\n",
    "            if i_episode % 10 ==0:\n",
    "                print(\"episode: {}/{}, time: {}, score = {}, best score = {}\"\n",
    "                      .format(i_episode, num_episodes, time_t, score, best_score))\n",
    "            score_dynamics['episode'].append(i_episode)\n",
    "            score_dynamics['score'].append(np.mean(temp_score))\n",
    "            break\n",
    "                "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1270"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "L = len(results['time'])\n",
    "L"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x22d88b3b7f0>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline\n",
    "\n",
    "t1=int(0)\n",
    "t2=int(L)\n",
    "plt.plot(results['time'][t1:t2], results['reward'][t1:t2])\n",
    "plt.title('rewards per episode')\n",
    "plt.xlabel('time')\n",
    "plt.ylabel('reward')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x22d8c6e32b0>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline\n",
    "\n",
    "t1=int(L*0)\n",
    "t2=int(L*1)\n",
    "plt.plot(results['time'][t1:t2], results['x'][t1:t2], label='x')\n",
    "plt.plot(results['time'][t1:t2], results['y'][t1:t2], label='y')\n",
    "plt.plot(results['time'][t1:t2], results['z'][t1:t2], label='z')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x22d8b48d0b8>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "t1= 0\n",
    "t2= int(L)\n",
    "\n",
    "plt.plot(results['time'][t1:t2], results['x_velocity'][t1:t2], label='x_hat')\n",
    "plt.plot(results['time'][t1:t2], results['y_velocity'][t1:t2], label='y_hat')\n",
    "plt.plot(results['time'][t1:t2], results['z_velocity'][t1:t2], label='z_hat')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x22d8b4c1ef0>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(results['time'], results['phi'], label='phi')\n",
    "plt.plot(results['time'], results['theta'], label='theta')\n",
    "plt.plot(results['time'], results['psi'], label='psi')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x22d8b564080>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "t1 = 0\n",
    "t2 = int(L)\n",
    "plt.plot(results['time'][t1:t2], results['phi_velocity'][t1:t2], label='phi_velocity')\n",
    "plt.plot(results['time'][t1:t2], results['theta_velocity'][t1:t2], label='theta_velocity')\n",
    "plt.plot(results['time'][t1:t2], results['psi_velocity'][t1:t2], label='psi_velocity')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x22d8b57a7b8>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "t1 = int(L*0)\n",
    "t2 = int(L*1)\n",
    "plt.plot(results['time'][t1:t2], results['rotor_speed1'][t1:t2], label='Rotor 1 revolutions / second')\n",
    "plt.plot(results['time'][t1:t2], results['rotor_speed2'][t1:t2], label='Rotor 2 revolutions / second')\n",
    "plt.plot(results['time'][t1:t2], results['rotor_speed3'][t1:t2], label='Rotor 3 revolutions / second')\n",
    "plt.plot(results['time'][t1:t2], results['rotor_speed4'][t1:t2], label='Rotor 4 revolutions / second')\n",
    "plt.legend()\n",
    "_ = plt.ylim()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "collapsed": true
   },
   "source": [
    "## Plot the Rewards\n",
    "\n",
    "Once you are satisfied with your performance, plot the episode rewards, either from a single run, or averaged over multiple runs. "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "-60.64661412097971"
      ]
     },
     "execution_count": 20,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "np.mean(score_dynamics['score'][200:])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x22d8b417588>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "## TODO: Plot the rewards.\n",
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline\n",
    "\n",
    "t1=0\n",
    "t2=L\n",
    "\n",
    "plt.plot(score_dynamics['episode'][t1:t2], score_dynamics['score'][t1:t2])\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "collapsed": true
   },
   "source": [
    "## Reflections\n",
    "\n",
    "**Question 1**: Describe the task that you specified in `task.py`.  How did you design the reward function?\n",
    "\n",
    "**Answer**:\n",
    "I consider the simplist task possible, take off vertically ascending 100 meters, from (0,0,0) to (0,0,100). I tried several reward functions. Here I list some:\n",
    "1.  reward = $100 - 1.5*(Z_{tg} - Z_{cr}) - \n",
    "        1.5*\\left(|X_{tg} - X_{cr}| + |Y_{tg} - Y_{cr}|\\right)- 1.0*\\Sigma(|A_{tg} - A_{cr}|)$\n",
    "2. reward = $\\frac{4*10^{6}}{1+400*(Z_{tg}-Z_{cr})^2}- 2.0*(\\left(|x_{tg} - X_{cr}| + |y_{tg} - Y_{cr}|\\right))$\n",
    "\n",
    "3. reward = $\\frac{2*10^{4}}{1+100*(Z_{tg}-Z_{cr})^2)}-\\ln\\left(1+X_{cr}^2+Y_{cr}^2\\right) - \\ln \\left(1+\\phi_{cr}^2 + \\theta_{cr}^2 + \\psi_{cr}^2\\right) - 0.5*\\ln \\left(\\dot{X}_{cr}^2 + \\dot{Y}_{cr}^2 \\right) - 0.8 * \\ln \\left(1+\\dot{\\phi}_{cr}^2 + \\dot{\\theta}_{cr}^2 +\\dot{\\psi}_{cr}^2 \\right)$\n",
    "               \n",
    "In the above the subscript $tg$ refers to target, the subsscript $cr$ refers to current and the variable $A$ refers to the Euler angles. I use dot notation to refer to velocities, e.g. $\\dot{X}$ is the velocity in the x-direction. \n",
    "\n",
    "The first reward function penalized any deviation from the target. The second reward function gave positive reward for the z-component getting closer to the target, but penalized the other two variables for not getting closer to the target. \n",
    "\n",
    "The motive behind moving from first to the second reward function is one that will give some positive reward. The problem that I continued to face is that the x and y-components always vary wildly compared to the z-component. So I wished to give only positive feed back to getting to the target. Therefore I added restrictions on the angles as well as the velocities for all the variables expcet $z$. \n",
    "\n",
    "I clipped reward three restricting it to the interval $[-10, 10]$.\n",
    "\n",
    "After submitting the project I tried the several variations of the following rewward function:\n",
    "\n",
    "`reward` = $\\displaystyle\n",
    "1 - 0.2* \\frac{2}{1+40 d^2}+0.1*\\frac{1}{50+20\\dot{Z}} $ where $d$ is the square distance of current position to target position\n",
    "\n",
    "Here I clip reward to the interval $[-1,1]$. \n",
    "\n",
    "`reward` is then updated as follows:\n",
    "\n",
    "IF  $|\\dot{X}| + |\\dot{Y} | > 0.4$ THEN\n",
    "     `reward` = `reward` - 5\n",
    "     \n",
    "IF sum of absolute values of angular velocities > 0.3 THEN\n",
    "    `reward` = ` reward` - 2\n",
    "    \n",
    "IF sqrt of d < 5  THEN\n",
    "    `reward` = `reward` - 100\n",
    "\n",
    "       \n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "**Question 2**: Discuss your agent briefly, using the following questions as a guide:\n",
    "\n",
    "- What learning algorithm(s) did you try? What worked best for you?\n",
    "- What was your final choice of hyperparameters (such as $\\alpha$, $\\gamma$, $\\epsilon$, etc.)?\n",
    "- What neural network architecture did you use (if any)? Specify layers, sizes, activation functions, etc.\n",
    "\n",
    "**Answer**:\n",
    "Initially I used a deep-Q learning with implimetation similar to [Keon](https://keon.io/deep-q-learning) but quickly realized that for this task, the actor-critic algorithm is more appropriate since the action space is continuous. I used DDPG agent and all related classes defined within it and provided along with this project. \n",
    "\n",
    "The provided implimentation of Actor-Critic algorithm, as well as the Deep Deterministic Policy Gradient (DDPG) agent implimenation follows the paper by Lillicrap et. al. on [continous control using DDPG](https://arxiv.org/abs/1509.02971). The actor part focuses on updating the policy while the critic updates the value-function. In the DDPG algorithm we use four deep learning tracks two for the actor that learns the policy (producing the action for a given state) and two for the value-function (giving the expected reward given an action when in a given state following a current policy). The two tracks for the actor and other two for the critic allow using seperate weights one for training and the other for applying the resulting model to update the policy.\n",
    "\n",
    "Just as the provided code follows most of structure impied by the DDPG paper, I tired to follow or at least or  try the hyperparameters and deep network structure the authors detailed in the paper. \n",
    "\n",
    "Several hyperparameters come into place here: $\\gamma$ for discounted return I used 0.99, I tried less and found that the reward per episode is reduced. I also set the soft update parameter $\\tau$ to be 0.01. I tried 0.1 and 0.001, also the effect is reduced reward. In general I tried to implement the same hyperparameters in the continuous control DDPG paper. So for the optimization learning rate, I used 0.001 (default value) in the Critic part and 0.0001 in the Actro part. I tweeked with the noise $\\theta$ and $\\sigma$ of the Orstein-Uhlenbech noise, I settled with $\\theta = 0.15$ and $\\sigma = 0.25$, I tried various values to see if they had significant effect on getting the required behavior. \n",
    "\n",
    "I should mention that all my trials where done before I settled on the third reward described above. However, I re-tested $\\gamma = 0.005$ and $\\sigma = 0.2$ with the third reward, and found that the best values where $\\gamma = 0.01$ and $\\sigma = 0.25$   \n",
    "\n",
    "Regarding the neural network architecture, I tried to apply what was mentioned in the paper, initially using the same number of nodes per layer but then reduced them to current ones 256 for the first and 128 for the second. I used $l^2$ regularizers along with activation `relu` the Rectified Linear Units in the hidden layers. I used `BatchNormalization` before applying the activation when possible. For the Actor neural network I used the `sigmoid` which is then rescaled to match the given action range. \n",
    "\n",
    "For setting the neural network nodes for the hidden layer, the continuous control paper mentions 400/300 nodes per layer. I tried these when I applied the agent in the Pendulum and MountainCar-continuous version cases. However, when I went back to the quadcopter it did not \"feel\" right based on quadcopter behavior and rewards. So I tired the current nodes as described above and found better results. \n",
    "\n",
    "For the Critic network I used as described in the paper two hidden layers for the states (with 256 nodes for the first hidden layer and 128 for the second hidden layer) and one hidden layer for the action with 128 nodes, which are then merged into one layer followed by the output layer. I used activation `relu` for all hidden layers and linear (default) activation for the output. I usd `BatchNormalization` before activation as well as $l^2$ regularization with weight 0.01 as described in the paper. I applied the regularization with the activation. \n",
    "\n",
    "I appreciate that Udacity provided the code for the actor critic using Keras, the action gradient part in particular implementation is very tricky, it took me quite some time to make sense of it. Keras documentation is not helpful in showing how to use the backend functions in such scenarios. \n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "**Question 3**: Using the episode rewards plot, discuss how the agent learned over time.\n",
    "\n",
    "- Was it an easy task to learn or hard?\n",
    "- Was there a gradual learning curve, or an aha moment?\n",
    "- How good was the final performance of the agent? (e.g. mean rewards over the last 10 episodes)\n",
    "\n",
    "**Answer**:\n",
    "\n",
    "I chose a simple task: taking off. However, it turns out to be a hard task to learn. There appear there is considerable spinning or whobling of the quadcopter as it ascends vertically. It did not ascend high enough. I repeated training several times. The result of each run is different. In all cases learning leads to chaotic rotors speed, angle values and velocities. The learning is not satifactory from my perspective. For the last run, the rewards average for the last 10 episodes is -13.519. The maximum reward is 10. "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "**Question 4**: Briefly summarize your experience working on this project. You can use the following prompts for ideas.\n",
    "\n",
    "- What was the hardest part of the project? (e.g. getting started, plotting, specifying the task, etc.)\n",
    "- Did you find anything interesting in how the quadcopter or your agent behaved?\n",
    "\n",
    "**Answer**:\n",
    "\n",
    "The begining is always hard. In this project we are dealing with continous action space that I did not encounter before and so my expectations where not clear. \n",
    "\n",
    "I spent considerable time studing the code and looking back at the other cases with discrete action space and state space. The part of the code that was not obvious is the Actor-Critic algorithm where the policy is updated using gradients of the state-action value function with respect to the action and understanding how Keras backend function should work. \n",
    "\n",
    "Here are few things that stopped me:\n",
    "\n",
    "- There is a compile statement for the critic network but not for the actor network. \n",
    "- One can use the model to predict just after defining the neural network. \n",
    "- How does the loss function in the actor network `loss = K.mean(-action_gradients * actions)` relate to equation (6) in the [continous control using DDPG](https://arxiv.org/abs/1509.02971) paper? Corrent me if I am wrong, now I understand that the optimiser takes care of the gradient with respect to the weights while we needed to define the gradient of Q with respect to the action using the `K.gradients` function. \n",
    " \n",
    "\n",
    "Figuring a good set of hyperparameters for the network also took time. I tested the agent on the __Mountain Car-continuous__ version, and the __Pendulum__ since I do not have to provide a reward function to either. This was helpful to see how the agent worked in these two continuous control examples. \n",
    "\n",
    "The quadcopter is hard to train for this supposedly simple task. I certainly would like to try other tasks such as the pitch, roll and yaw. Setting up the reward funcion of each, is not very hard if one understands which variables are supposed to stay fixed with should vary. It would be interesting to compare the agent behavior in these tasks.  "
   ]
  }
 ],
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