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<!DOCTYPE html>
<html>
<head><meta charset="utf-8" />
<title>smartcab</title>
<script src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.1.10/require.min.js"></script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/jquery/2.0.3/jquery.min.js"></script>
<style type="text/css">
/*!
*
* Twitter Bootstrap
*
*//*! normalize.css v3.0.2 | MIT License | git.io/normalize */html{font-family:sans-serif;-ms-text-size-adjust:100%;-webkit-text-size-adjust:100%;font-size:10px;-webkit-tap-highlight-color:transparent}article,aside,details,figcaption,figure,footer,header,hgroup,main,menu,nav,section,summary{display:block}audio,canvas,progress,video{display:inline-block;vertical-align:baseline}audio:not([controls]){display:none;height:0}[hidden],template{display:none}a{background-color:transparent}a:active,a:hover{outline:0}abbr[title]{border-bottom:1px dotted}b,optgroup,strong{font-weight:700}dfn{font-style:italic}h1{font-size:2em;margin:.67em 0}mark{background:#ff0;color:#000}small{font-size:80%}sub,sup{font-size:75%;line-height:0;position:relative;vertical-align:baseline}sup{top:-.5em}sub{bottom:-.25em}img{border:0;vertical-align:middle}svg:not(:root){overflow:hidden}hr{-moz-box-sizing:content-box;box-sizing:content-box;height:0}pre,textarea{overflow:auto}code,kbd,pre,samp{font-size:1em}button,input,optgroup,select,textarea{color:inherit;font:inherit;margin:0}button{overflow:visible}button,select{text-transform:none}button,html input[type=button],input[type=reset],input[type=submit]{-webkit-appearance:button;cursor:pointer}button[disabled],html input[disabled]{cursor:default}button::-moz-focus-inner,input::-moz-focus-inner{border:0;padding:0}input{line-height:normal}input[type=checkbox],input[type=radio]{box-sizing:border-box;padding:0}input[type=number]::-webkit-inner-spin-button,input[type=number]::-webkit-outer-spin-button{height:auto}input[type=search]::-webkit-search-cancel-button,input[type=search]::-webkit-search-decoration{-webkit-appearance:none}table{border-collapse:collapse;border-spacing:0}td,th{padding:0}/*! 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<h1 id="Machine-Learning-Engineer-Nanodegree">Machine Learning Engineer Nanodegree<a class="anchor-link" href="#Machine-Learning-Engineer-Nanodegree">¶</a></h1><h2 id="Reinforcement-Learning">Reinforcement Learning<a class="anchor-link" href="#Reinforcement-Learning">¶</a></h2><h2 id="Project:-Train-a-Smartcab-to-Drive">Project: Train a Smartcab to Drive<a class="anchor-link" href="#Project:-Train-a-Smartcab-to-Drive">¶</a></h2><p>Welcome to the fourth project of the Machine Learning Engineer Nanodegree! In this notebook, template code has already been provided for you to aid in your analysis of the <em>Smartcab</em> and your implemented learning algorithm. You will not need to modify the included code beyond what is requested. There will be questions that you must answer which relate to the project and the visualizations provided in the notebook. Each section where you will answer a question is preceded by a <strong>'Question X'</strong> header. Carefully read each question and provide thorough answers in the following text boxes that begin with <strong>'Answer:'</strong>. Your project submission will be evaluated based on your answers to each of the questions and the implementation you provide in <code>agent.py</code>.</p>
<blockquote><p><strong>Note:</strong> Code and Markdown cells can be executed using the <strong>Shift + Enter</strong> keyboard shortcut. In addition, Markdown cells can be edited by typically double-clicking the cell to enter edit mode.</p>
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<h2 id="Getting-Started">Getting Started<a class="anchor-link" href="#Getting-Started">¶</a></h2><p>In this project, you will work towards constructing an optimized Q-Learning driving agent that will navigate a <em>Smartcab</em> through its environment towards a goal. Since the <em>Smartcab</em> is expected to drive passengers from one location to another, the driving agent will be evaluated on two very important metrics: <strong>Safety</strong> and <strong>Reliability</strong>. A driving agent that gets the <em>Smartcab</em> to its destination while running red lights or narrowly avoiding accidents would be considered <strong>unsafe</strong>. Similarly, a driving agent that frequently fails to reach the destination in time would be considered <strong>unreliable</strong>. Maximizing the driving agent's <strong>safety</strong> and <strong>reliability</strong> would ensure that <em>Smartcabs</em> have a permanent place in the transportation industry.</p>
<p><strong>Safety</strong> and <strong>Reliability</strong> are measured using a letter-grade system as follows:</p>
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<th style="text-align:center">Grade</th>
<th style="text-align:center">Safety</th>
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<td style="text-align:center">A+</td>
<td style="text-align:center">Agent commits no traffic violations,<br/>and always chooses the correct action.</td>
<td style="text-align:center">Agent reaches the destination in time<br />for 100% of trips.</td>
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<td style="text-align:center">A</td>
<td style="text-align:center">Agent commits few minor traffic violations,<br/>such as failing to move on a green light.</td>
<td style="text-align:center">Agent reaches the destination on time<br />for at least 90% of trips.</td>
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<td style="text-align:center">B</td>
<td style="text-align:center">Agent commits frequent minor traffic violations,<br/>such as failing to move on a green light.</td>
<td style="text-align:center">Agent reaches the destination on time<br />for at least 80% of trips.</td>
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<td style="text-align:center">C</td>
<td style="text-align:center">Agent commits at least one major traffic violation,<br/> such as driving through a red light.</td>
<td style="text-align:center">Agent reaches the destination on time<br />for at least 70% of trips.</td>
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<td style="text-align:center">D</td>
<td style="text-align:center">Agent causes at least one minor accident,<br/> such as turning left on green with oncoming traffic.</td>
<td style="text-align:center">Agent reaches the destination on time<br />for at least 60% of trips.</td>
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<td style="text-align:center">F</td>
<td style="text-align:center">Agent causes at least one major accident,<br />such as driving through a red light with cross-traffic.</td>
<td style="text-align:center">Agent fails to reach the destination on time<br />for at least 60% of trips.</td>
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<p>To assist evaluating these important metrics, you will need to load visualization code that will be used later on in the project. Run the code cell below to import this code which is required for your analysis.</p>
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<div class=" highlight hl-ipython2"><pre><span></span><span class="c1"># Import the visualization code</span>
<span class="kn">import</span> <span class="nn">visuals</span> <span class="kn">as</span> <span class="nn">vs</span>
<span class="c1"># Pretty display for notebooks</span>
<span class="o">%</span><span class="k">matplotlib</span> inline
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<h3 id="Understand-the-World">Understand the World<a class="anchor-link" href="#Understand-the-World">¶</a></h3><p>Before starting to work on implementing your driving agent, it's necessary to first understand the world (environment) which the <em>Smartcab</em> and driving agent work in. One of the major components to building a self-learning agent is understanding the characteristics about the agent, which includes how the agent operates. To begin, simply run the <code>agent.py</code> agent code exactly how it is -- no need to make any additions whatsoever. Let the resulting simulation run for some time to see the various working components. Note that in the visual simulation (if enabled), the <strong>white vehicle</strong> is the <em>Smartcab</em>.</p>
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<h3 id="Question-1">Question 1<a class="anchor-link" href="#Question-1">¶</a></h3><p>In a few sentences, describe what you observe during the simulation when running the default <code>agent.py</code> agent code. Some things you could consider:</p>
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<li><em>Does the Smartcab move at all during the simulation?</em></li>
<li><em>What kind of rewards is the driving agent receiving?</em></li>
<li><em>How does the light changing color affect the rewards?</em> </li>
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<p><strong>Hint:</strong> From the <code>/smartcab/</code> top-level directory (where this notebook is located), run the command</p>
<div class="highlight"><pre><span></span><span class="s1">'python smartcab/agent.py'</span>
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<p><strong>Answer:</strong> The Smartcab (white car) is not moving at all during the simulation because its state is not being updated. Sometimes it receives negative rewards for remaining at the intersection at a green light with no oncoming traffic and other times, it receives positive rewards for idling at a red light and for idling at a green light with oncoming traffic.</p>
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<h3 id="Understand-the-Code">Understand the Code<a class="anchor-link" href="#Understand-the-Code">¶</a></h3><p>In addition to understanding the world, it is also necessary to understand the code itself that governs how the world, simulation, and so on operate. Attempting to create a driving agent would be difficult without having at least explored the <em>"hidden"</em> devices that make everything work. In the <code>/smartcab/</code> top-level directory, there are two folders: <code>/logs/</code> (which will be used later) and <code>/smartcab/</code>. Open the <code>/smartcab/</code> folder and explore each Python file included, then answer the following question.</p>
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<h3 id="Question-2">Question 2<a class="anchor-link" href="#Question-2">¶</a></h3><ul>
<li><em>In the </em><code>agent.py</code><em> Python file, choose three flags that can be set and explain how they change the simulation.</em></li>
<li><em>In the </em><code>environment.py</code><em> Python file, what Environment class function is called when an agent performs an action?</em></li>
<li><em>In the </em><code>simulator.py</code><em> Python file, what is the difference between the </em><code>'render_text()'</code><em> function and the </em><code>'render()'</code><em> function?</em></li>
<li><em>In the </em><code>planner.py</code><em> Python file, will the </em><code>'next_waypoint()</code><em> function consider the North-South or East-West direction first?</em></li>
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<p><strong>Answer:</strong> In the <code>agent.py</code> file, setting <code>env = Environment(verbose=True)</code> outputs addition information from the simulation including location of the Smartcab, its destination, action, violations, actions taken and how many actions are left before the deadline, reward, and inputs about traffic lights.
We can also set a flag in <code>env = Environment(num_dummies=30)</code> to change the number of agents in the environment from the default value of 100 to 30 cars.
Third, setting a flag in <code>sim = Simulator(env, update_delay = 5.0)</code> changes the delay time between actions from 2 seconds to 5 seconds.</p>
<p>In the <code>environment.py</code> file, function <code>act()</code> is called when an agents performs an action.</p>
<p>In the <code>simulator.py</code> file, function <code>render_text()</code> prints the text data about the simulation to the terminal instead of a GUI display while the <code>render()</code> function displays simulation in the PyGame GUI.</p>
<p>In the <code>planner.py</code> file, the <code>next_waypoint()</code> function first considers if the destination is in the East-West direction of location.</p>
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<h2 id="Implement-a-Basic-Driving-Agent">Implement a Basic Driving Agent<a class="anchor-link" href="#Implement-a-Basic-Driving-Agent">¶</a></h2><p>The first step to creating an optimized Q-Learning driving agent is getting the agent to actually take valid actions. In this case, a valid action is one of <code>None</code>, (do nothing) <code>'Left'</code> (turn left), <code>'Right'</code> (turn right), or <code>'Forward'</code> (go forward). For your first implementation, navigate to the <code>'choose_action()'</code> agent function and make the driving agent randomly choose one of these actions. Note that you have access to several class variables that will help you write this functionality, such as <code>'self.learning'</code> and <code>'self.valid_actions'</code>. Once implemented, run the agent file and simulation briefly to confirm that your driving agent is taking a random action each time step.</p>
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<h3 id="Basic-Agent-Simulation-Results">Basic Agent Simulation Results<a class="anchor-link" href="#Basic-Agent-Simulation-Results">¶</a></h3><p>To obtain results from the initial simulation, you will need to adjust following flags:</p>
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<li><code>'enforce_deadline'</code> - Set this to <code>True</code> to force the driving agent to capture whether it reaches the destination in time.</li>
<li><code>'update_delay'</code> - Set this to a small value (such as <code>0.01</code>) to reduce the time between steps in each trial.</li>
<li><code>'log_metrics'</code> - Set this to <code>True</code> to log the simluation results as a <code>.csv</code> file in <code>/logs/</code>.</li>
<li><code>'n_test'</code> - Set this to <code>'10'</code> to perform 10 testing trials.</li>
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<p>Optionally, you may disable to the visual simulation (which can make the trials go faster) by setting the <code>'display'</code> flag to <code>False</code>. Flags that have been set here should be returned to their default setting when debugging. It is important that you understand what each flag does and how it affects the simulation!</p>
<p>Once you have successfully completed the initial simulation (there should have been 20 training trials and 10 testing trials), run the code cell below to visualize the results. Note that log files are overwritten when identical simulations are run, so be careful with what log file is being loaded!
Run the agent.py file after setting the flags from projects/smartcab folder instead of projects/smartcab/smartcab.</p>
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<div class=" highlight hl-ipython2"><pre><span></span><span class="c1"># Load the 'sim_no-learning' log file from the initial simulation results</span>
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