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report.html
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report.html
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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>
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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></p>
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<li>The smartcab seems to be completely stationary (idling), and not moving. </li>
<li>There appear to be two different variables that determine the reward structure - traffic light state and oncoming traffic. This results in 3 different states:<ul>
<li><strong>Red Traffic light:</strong> When red, a positive reward is recieved for idling correctly. The cab should not move. </li>
<li><strong>Green Traffic Light:</strong> When green, a negative reward is recieved for inaction. The cab should not be idling here.</li>
<li><strong>Green Trafifc Light + Oncoming traffic:</strong> When there is oncoming traffic <strong>and</strong> the light is green, a positive reward is recieved.</li>
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<li>The changing light state of the traffic light changes rewards drastically:<ul>
<li>When at a Green light, a negative reward of ~-4.52 is being recieved due to inaction</li>
<li>When at a Red light, a positive reward of ~+2.81 is being recieved.</li>
<li>When at a Green light with oncoming traffic, a positive reward of ~+0.65-1.26 is recieved.</li>
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<li>We can see that <em>inaction</em> appears to be penalized more than <em>safety</em> here. In other words, the autocab is penalized most when it is not moving when it should be. However, the autocab could be deemed to be simply overly cautious and arguably could recieve a positive reward for not crashing if measured by another metric.</li>
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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></p>
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<li>agent.py has three key flags:<ul>
<li>learning (bool): Whether the agent is expected to learn. This determines whether the agent will perform any Q-Learning (<code>True</code>), or instead simply choose random actions (<code>False</code>).</li>
<li>epsilon (float): Random exploration factor. This determines to what extent random 'discovery' actions will be performed. If this value is too low, the smartcab will not be able to learn new behaviour because it will be constantly 'playing it safe' and using previous learnings all the time. If this value is too high, then it will never be able to enact learnings and will constantly take risks. A value in between will balance previous learnings with risk-taking.</li>
<li>alpha (float): Learning factor. This defines the extent to which previous learnings are iterated on by new learnings. A value of 0 would mean that the algorithm would never change it's own behaviour. A value of 1 would be 'full learning', where no previous learnings are ever carried forward, and everything is 'forgotten' going forward. A value in between e.g. 0.5 would take an average of the previous value with the new learning.</li>
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</li>
<li>environment.py: The <code>act</code> member function is called at the end of every <code>update</code> call within the agent. This requests the environment to provide a reward based upon the agent's action.</li>
<li>simulator.py has two rendering functions, <code>render_text</code> and <code>render</code>. The former is for command-line based applications to output the result into the command line window. The latter is meant for a full GUI rendering based upon pygame.</li>
<li>planner.py first seems to consider the East-West direction first by evaluating <code>dx</code>. It then evaluates the North-South direction by evaluating <code>dy</code>. There is no implementation for Anything in between - i.e. North-East, North-West etc.</li>
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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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