Initial Setup
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<template>
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<TopBar/>
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<SideBar/>
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<SubLayout/>
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<RosBar/>
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</template>
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<script setup>
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import TopBar from '@/components/TopBar.vue';
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import RosBar from '@/components/RosBar.vue';
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import SideBar from '@/components/SideBar.vue';
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import SubLayout from "@/components/SubLayout.vue";
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</script>
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<style scoped>
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</style>
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<template>
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<v-row class="flex-row">
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<v-col class="flex-col px-4">
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<v-row class="d-flex justify-space-evenly">
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<v-select
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:items="envs"
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label="Environments"
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v-model="envSelector"
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></v-select>
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<v-select
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:items="metrics"
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label="Metric"
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v-model="metricSelector"
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></v-select>
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</v-row>
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<v-slider
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class="control-slider"
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label="maximum steps"
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v-model="maxStepComp"
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:step="1"
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:min="10"
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:max="500"
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thumb-label
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/>
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<v-slider
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class="control-slider"
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label="nr base funcs"
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v-model="baseFuncsComp"
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:step="1"
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:min="2"
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:max="20"
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thumb-label
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/>
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<v-slider
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class="control-slider"
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label="nr episodes"
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v-model="cstore.nr_episodes"
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:step="1"
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:min="1"
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:max="500"
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thumb-label
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/>
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<v-slider
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class="control-slider"
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label="nr runs"
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v-model="cstore.nr_runs"
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:step="1"
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:min="1"
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:max="100"
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thumb-label
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/>
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<v-select
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class="justify-space-evenly"
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:items="acq_funs"
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label="Acquisition Function"
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v-model="acqSelector"
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></v-select>
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<v-row class="flex-row px-4 py-0" style="max-height: 80px">
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<v-slider
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class="control-slider"
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:label="cstore.metrics_label[cstore.metric]"
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v-model="cstore.metric_parameter"
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:step="cstore.metric_limits[cstore.metric][2]"
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:min="cstore.metric_limits[cstore.metric][0]"
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:max="cstore.metric_limits[cstore.metric][1]"
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thumb-label
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/>
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<v-col class="pa-0 ba-0" cols="2">
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<v-select
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v-if="cstore.metric === 'improvement'"
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label="nr episodes"
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v-model="cstore.improvement_2"
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:items="[5, 10, 15, 20, 25, 30, 35, 40, 45, 50]"
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variant="outlined"
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/>
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</v-col>
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</v-row>
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<v-row class="justify-space-evenly px-1 py-0 ma-0 ba-0">
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<v-checkbox
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class="py-0 my-0"
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v-model="cstore.fixed_seed"
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label="fixed seed"
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/>
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<v-checkbox
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class="py-0 my-0"
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v-model="cstore.overwrite"
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label="overwrite"
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/>
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<v-checkbox
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class="py-0 my-0"
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v-model="cstore.save_result"
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label="save_result"
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/>
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</v-row>
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<v-row class="d-flex justify-space-evenly py-0 ma-0">
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<v-btn
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class="py-0 my-0"
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color="primary"
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@click="cstore.setSendWeights()"
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>Send Weights</v-btn
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>
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<v-btn class="py-0 my-0" color="secondary" @click="cstore.setRunner()"
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>Run</v-btn
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>
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</v-row>
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</v-col>
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</v-row>
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</template>
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<script setup>
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import { usePStore } from "@/store/PolicyStore";
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import { useCStore } from "@/store/ControlStore";
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import { computed } from "vue";
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const pstore = usePStore();
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const cstore = useCStore();
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const envs = cstore.envs;
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const metrics = cstore.metrics;
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const acq_funs = cstore.acq_funs;
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const maxStepComp = computed({
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get: () => pstore.max_steps,
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set: (value) => pstore.setMaxSteps(value),
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});
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const baseFuncsComp = computed({
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get: () => pstore.nr_weights,
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set: (value) => pstore.setNrWeights(value),
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});
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const envSelector = computed({
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get: () => cstore.env,
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set: (value) => cstore.setEnv(value),
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});
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const metricSelector = computed({
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get: () => cstore.metric,
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set: (value) => cstore.setMetric(value),
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});
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const acqSelector = computed({
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get: () => cstore.acq_fun,
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set: (value) => cstore.setAcq(value),
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});
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</script>
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<style scoped>
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.control-slider {
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}
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</style>
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<template>
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<canvas id="policy-chart" />
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</template>
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<script setup>
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import { onMounted, watch } from "vue";
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import { usePStore } from "@/store/PolicyStore";
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import { Chart } from "chart.js/auto";
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import { computeRbfCurve } from "@/js_funs/online_rbf_policy";
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import { useRLStore } from "@/store/RLStore";
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const store = usePStore();
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const rlstore = useRLStore();
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let chartHandle;
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let verticalLinePlugin = {
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id: "verticalLinePlugin",
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afterDraw: function (chart, args, options) {
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let y_Scale = chart.scales["y"];
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let x_Scale = chart.scales["x"];
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let ctx = chart.ctx;
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let xValue = options.xValue;
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let x = x_Scale.getPixelForValue(xValue);
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let top = y_Scale.top;
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let bottom = y_Scale.bottom;
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ctx.save();
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ctx.beginPath();
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ctx.moveTo(x, top);
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ctx.lineTo(x, bottom);
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ctx.lineWidth = 1;
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ctx.strokeStyle = "#00ff00";
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ctx.stroke();
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ctx.restore();
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},
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};
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Chart.register(verticalLinePlugin);
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function buildChart() {
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const policy = store.getPolicy;
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const policy_labels = Array(policy.length)
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.fill(0)
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.map((_, i) => i);
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const RewardPlot = {
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data: {
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datasets: [
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{
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type: "line",
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xAxisID: "x",
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yAxisID: "y",
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data: policy,
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borderColor: "#3DC47A",
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borderWidth: 2,
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pointRadius: 0,
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},
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],
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},
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options: {
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maintainAspectRatio: false,
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responsive: true,
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animation: {
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duration: 0,
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},
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plugins: {
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legend: {
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display: false,
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},
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verticalLinePlugin: {
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xValue: rlstore.getCurrentTime,
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},
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},
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lineTension: 0,
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tooltip: {
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mode: "label",
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},
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scales: {
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x: {
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grid: {
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display: false,
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},
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labels: policy_labels,
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ticks: {
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autoSkip: true,
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},
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},
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y: {
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type: "linear",
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ticks: {
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beginAtZero: true,
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},
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},
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},
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},
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};
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const ctx = document.getElementById("policy-chart");
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// eslint-disable-next-line no-new
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chartHandle = new Chart(ctx, RewardPlot);
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}
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onMounted(() => {
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buildChart();
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});
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watch(
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() => rlstore.current_time,
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() => {
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const policy = store.getPolicy;
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chartHandle.options.scales.x.labels = Array(policy.length)
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.fill(0)
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.map((_, i) => i);
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chartHandle.data.datasets[0].data = policy;
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chartHandle.options.plugins.verticalLinePlugin.xValue =
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rlstore.current_time;
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chartHandle.update();
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}
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);
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watch(
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() => store.getTrigger,
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() => {
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const policy = computeRbfCurve(store.getMaxSteps, store.getWeights);
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store.setPolicy(policy);
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chartHandle.options.scales.x.labels = Array(policy.length)
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.fill(0)
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.map((_, i) => i);
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chartHandle.data.datasets[0].data = policy;
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chartHandle.options.plugins.verticalLinePlugin.xValue =
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rlstore.current_time;
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chartHandle.update();
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}
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);
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</script>
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<style scoped></style>
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<template>
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<canvas id="MCcanvas" width="480" height="320" />
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</template>
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<script setup>
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import { onMounted, ref, watch } from "vue";
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import { useRLStore } from "@/store/RLStore";
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const rlstore = useRLStore();
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const imageData = ref(null);
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const renderImage = (width, height) => {
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const red = rlstore.getRed;
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const green = rlstore.getGreen;
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const blue = rlstore.getBlue;
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const rgbData = new Uint8ClampedArray(height * width * 4);
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for (let i = 0; i < height * width; i++) {
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const j = i * 4;
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rgbData[j] = red[i];
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rgbData[j + 1] = green[i];
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rgbData[j + 2] = blue[i];
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rgbData[j + 3] = 255;
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}
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imageData.value = rgbData;
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};
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const drawImage = (width, height) => {
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if (imageData.value) {
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const canvas = document.getElementById("MCcanvas");
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const context = canvas.getContext("2d");
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const image = new ImageData(imageData.value, width, height);
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context.putImageData(image, 0, 0);
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}
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};
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onMounted(() => {
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const height = rlstore.getHeight;
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const width = rlstore.getWidth;
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renderImage(width, height);
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drawImage(width, height);
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});
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watch(
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() => rlstore.trigger,
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() => {
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const height = rlstore.getHeight;
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const width = rlstore.getWidth;
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renderImage(width, height);
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drawImage(width, height);
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}
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);
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</script>
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<style scoped></style>
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<template>
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<canvas id="reward-chart" />
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</template>
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<script setup>
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import { onMounted, watch } from "vue";
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import { Chart } from "chart.js/auto";
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import { useRStore } from "@/store/RewardStore";
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const store = useRStore();
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let chartHandle;
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function buildChart() {
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const reward_mean = store.getMean;
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const reward_std = store.getStd;
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const upper_bound = Array(reward_mean.length)
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.fill(0)
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.map((_, i) => reward_mean[i] + 1.96 * reward_std[i]);
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const lower_bound = Array(reward_mean.length)
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.fill(0)
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.map((_, i) => reward_mean[i] - 1.96 * reward_std[i]);
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const reward_labels = Array(reward_mean.length)
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.fill(0)
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.map((_, i) => i);
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const RewardPlot = {
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data: {
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datasets: [
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{
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label: "Reward",
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type: "line",
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xAxisID: "x",
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yAxisID: "y",
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fill: false,
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data: reward_mean,
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borderColor: "#3DC47A",
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borderWidth: 2,
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pointRadius: 0,
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},
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{
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type: "line",
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xAxisID: "x",
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yAxisID: "y",
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fill: 0,
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data: upper_bound,
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pointRadius: 0,
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borderColor: "transparent",
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backgroundColor: "rgba(61,196,122,0.5)",
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},
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{
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type: "line",
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xAxisID: "x",
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yAxisID: "y",
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fill: 0,
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data: lower_bound,
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pointRadius: 0,
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borderColor: "transparent",
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backgroundColor: "rgba(61,196,122,0.5)",
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},
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],
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},
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options: {
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plugins: {
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legend: {
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display: false,
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},
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},
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maintainAspectRatio: false,
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responsive: true,
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animation: {
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duration: 0,
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},
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lineTension: 0,
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tooltip: {
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mode: "label",
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},
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scales: {
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x: {
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grid: {
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display: false,
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},
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labels: reward_labels,
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ticks: {
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autoSkip: true,
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},
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},
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y: {
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type: "linear",
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ticks: {
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beginAtZero: false,
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min: -110,
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max: 0,
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},
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},
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},
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},
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};
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const ctx = document.getElementById("reward-chart");
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// eslint-disable-next-line no-new
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chartHandle = new Chart(ctx, RewardPlot);
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}
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onMounted(() => {
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buildChart();
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});
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watch(
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() => store.getTrigger,
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() => {
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const reward_mean = store.getMean;
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const reward_std = store.getStd;
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const upper_bound = Array(reward_mean.length)
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.fill(0)
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.map((_, i) => reward_mean[i] + 1.96 * reward_std[i]);
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const lower_bound = Array(reward_mean.length)
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.fill(0)
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.map((_, i) => reward_mean[i] - 1.96 * reward_std[i]);
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chartHandle.options.scales.x.labels = Array(reward_mean.length)
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.fill(0)
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.map((_, i) => i);
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chartHandle.data.datasets[0].data = reward_mean;
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chartHandle.data.datasets[1].data = upper_bound;
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chartHandle.data.datasets[2].data = lower_bound;
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chartHandle.update();
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}
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);
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</script>
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<style scoped></style>
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<template>
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<v-navigation-drawer v-model="store.rosBarOpened" temporary location="right">
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<v-container fluid>
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<v-row justify="space-between">
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<v-col cols="6" md="12">
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<v-text-field
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v-model="formState.ipaddress"
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label="IP Address"
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:disabled="connectionState"
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/>
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<v-text-field
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v-model="formState.port"
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label="Port"
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:disabled="connectionState"
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/>
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<v-switch
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@change="updateConnectionState"
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true-value="connected"
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false-value="not connected"
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:label="`${formState.connect}`"
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||||
/>
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||||
</v-col>
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||||
</v-row>
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</v-container>
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</v-navigation-drawer>
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</template>
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<script setup>
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import * as ROS from "roslib";
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import { useBWStore } from "@/store/BaseWebsiteStore";
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||||
import { usePStore } from "@/store/PolicyStore";
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import { useCStore } from "@/store/ControlStore";
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import { useRStore } from "@/store/RewardStore";
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import { useRLStore } from "@/store/RLStore";
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import { reactive, ref, watch } from "vue";
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const store = useBWStore();
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const pstore = usePStore();
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||||
const cstore = useCStore();
|
||||
const rstore = useRStore();
|
||||
const rlstore = useRLStore();
|
||||
|
||||
const formState = reactive({
|
||||
ipaddress: "localhost",
|
||||
port: "9090",
|
||||
connect: "not connected",
|
||||
// connectionState: computed(() => formState.connect !== 'not connected'),
|
||||
});
|
||||
|
||||
const connectionState = ref(false);
|
||||
const stateCounter = ref([0, 0, 0]);
|
||||
|
||||
// Open Connection to ROSBridge and subscribe the topics.
|
||||
const ros = new ROS.Ros();
|
||||
const ros_eval = new ROS.Ros();
|
||||
|
||||
ros.on("connection", () => {
|
||||
stateCounter.value[0] += 1;
|
||||
});
|
||||
ros_eval.on("connection", () => {});
|
||||
|
||||
ros.on("error", (error) => {
|
||||
stateCounter.value[1] += 1;
|
||||
console.log(error);
|
||||
});
|
||||
ros_eval.on("error", () => {});
|
||||
|
||||
ros.on("close", () => {
|
||||
stateCounter.value[2] += 1;
|
||||
});
|
||||
ros_eval.on("close", () => {});
|
||||
|
||||
function updateConnectionState() {
|
||||
connectionState.value = !connectionState.value;
|
||||
if (formState.connect === "not connected") {
|
||||
formState.connect = "connected";
|
||||
const rosUrl = `ws://${formState.ipaddress}:${formState.port}`;
|
||||
ros.connect(rosUrl);
|
||||
ros_eval.connect(rosUrl);
|
||||
} else {
|
||||
formState.connect = "not connected";
|
||||
ros.close();
|
||||
ros_eval.close();
|
||||
}
|
||||
}
|
||||
|
||||
const lastStateCounter = [0, 0, 0];
|
||||
|
||||
// ROS2 State Observer
|
||||
watch(stateCounter.value, (newValue) => {
|
||||
let currentState = 0;
|
||||
for (let i = 0; i < lastStateCounter.length; i += 1) {
|
||||
if (newValue[i] - lastStateCounter[i] === 1) {
|
||||
currentState = i;
|
||||
}
|
||||
lastStateCounter[i] = newValue[i];
|
||||
}
|
||||
if (currentState === 0) {
|
||||
store.setRosConState("connected");
|
||||
} else if (currentState === 1) {
|
||||
store.setRosConState("error");
|
||||
} else if (currentState === 2) {
|
||||
store.setRosConState("not connected");
|
||||
}
|
||||
});
|
||||
|
||||
// State Subscriber
|
||||
const state_subscriber = new ROS.Topic({
|
||||
ros: ros,
|
||||
name: "/active_bo_state",
|
||||
messageType: "active_bo_msgs/msg/ActiveBOState",
|
||||
});
|
||||
|
||||
state_subscriber.subscribe((msg) => {
|
||||
rlstore.setCurrentRun(msg.current_run);
|
||||
rlstore.setCurrentEpisode(msg.current_episode);
|
||||
rlstore.setBestReward(msg.best_reward);
|
||||
rlstore.setLastUserReward(msg.last_user_reward);
|
||||
|
||||
if (msg.current_episode === 1) {
|
||||
pstore.resetWeights_Fixed();
|
||||
}
|
||||
});
|
||||
|
||||
// RL Service + Feedback Subscriber
|
||||
const rl_feedback_subscriber = new ROS.Topic({
|
||||
ros: ros,
|
||||
name: "/rl_feedback",
|
||||
messageType: "active_bo_msgs/msg/ImageFeedback",
|
||||
});
|
||||
|
||||
rl_feedback_subscriber.subscribe((msg) => {
|
||||
rlstore.setDim(msg.height, msg.width);
|
||||
rlstore.setRgbArrays(msg.red, msg.green, msg.blue);
|
||||
rlstore.setCurrentTime(msg.current_time);
|
||||
});
|
||||
|
||||
const active_rl_eval_sub = new ROS.Topic({
|
||||
ros: ros_eval,
|
||||
name: "/active_rl_eval_request",
|
||||
messageType: "active_bo_msgs/msg/ActiveRLEvalRequest",
|
||||
});
|
||||
|
||||
const pendingRequest = ref(false);
|
||||
active_rl_eval_sub.subscribe((msg) => {
|
||||
pstore.setPolicy(msg.policy);
|
||||
pstore.setWeights(msg.weights);
|
||||
pendingRequest.value = true;
|
||||
});
|
||||
|
||||
const active_rl_eval_pub = new ROS.Topic({
|
||||
ros: ros_eval,
|
||||
name: "/active_rl_eval_response",
|
||||
messageType: "active_bo_msgs/msg/ActiveRLEvalResponse",
|
||||
});
|
||||
|
||||
watch(
|
||||
() => cstore.getSendWeights,
|
||||
() => {
|
||||
if (!pendingRequest.value) {
|
||||
return;
|
||||
}
|
||||
console.log("Button pressed!");
|
||||
const active_eval_response = new ROS.Message({
|
||||
policy: pstore.policy,
|
||||
weights: pstore.weights,
|
||||
overwrite_weight: pstore.weights_fixed,
|
||||
});
|
||||
|
||||
console.log(active_eval_response);
|
||||
|
||||
active_rl_eval_pub.publish(active_eval_response);
|
||||
console.log("New Policy/ Weights published");
|
||||
pendingRequest.value = false;
|
||||
}
|
||||
);
|
||||
|
||||
const active_bo_pending = ref(false);
|
||||
|
||||
const active_bo_request = new ROS.Topic({
|
||||
ros: ros,
|
||||
name: "/active_bo_request",
|
||||
messageType: "active_bo_msgs/msg/ActiveBORequest",
|
||||
});
|
||||
|
||||
const active_bo_response = new ROS.Topic({
|
||||
ros: ros,
|
||||
name: "/active_bo_response",
|
||||
messageType: "active_bo_msgs/msg/ActiveBOResponse",
|
||||
});
|
||||
|
||||
active_bo_response.subscribe((msg) => {
|
||||
pstore.setPolicy(msg.best_policy);
|
||||
pstore.setWeights(msg.best_weights);
|
||||
rstore.setMean(msg.reward_mean);
|
||||
rstore.setStd(msg.reward_std);
|
||||
active_bo_pending.value = false;
|
||||
});
|
||||
|
||||
watch(
|
||||
() => cstore.getRunner,
|
||||
() => {
|
||||
const request_msg = new ROS.Message({
|
||||
env: cstore.env,
|
||||
metric: cstore.metric,
|
||||
fixed_seed: cstore.fixed_seed,
|
||||
nr_weights: pstore.nr_weights,
|
||||
max_steps: pstore.max_steps,
|
||||
nr_episodes: cstore.nr_episodes,
|
||||
nr_runs: cstore.nr_runs,
|
||||
acquisition_function: cstore.acq_fun,
|
||||
metric_parameter: cstore.metric_parameter,
|
||||
metric_parameter_2: cstore.improvement_2,
|
||||
save_result: cstore.save_result,
|
||||
overwrite: cstore.overwrite,
|
||||
});
|
||||
active_bo_pending.value = true;
|
||||
active_bo_request.publish(request_msg);
|
||||
}
|
||||
);
|
||||
</script>
|
||||
|
||||
<style scoped></style>
|
||||
@ -1,84 +0,0 @@
|
||||
<template>
|
||||
<v-navigation-drawer class="nav-drawer" permanent width="64">
|
||||
<v-list class="py-3">
|
||||
<v-list-item style="padding: 0" class="py-2">
|
||||
<div class="tile">
|
||||
<span
|
||||
style="
|
||||
font-size: 14px;
|
||||
text-align: center;
|
||||
word-wrap: break-word;
|
||||
padding: 0;
|
||||
"
|
||||
>Current <br />
|
||||
Run <br />
|
||||
{{ rlstore.current_run }}</span
|
||||
>
|
||||
</div>
|
||||
</v-list-item>
|
||||
<v-list-item style="padding: 0" class="py-2">
|
||||
<div class="tile">
|
||||
<span
|
||||
style="
|
||||
font-size: 14px;
|
||||
text-align: center;
|
||||
word-wrap: break-word;
|
||||
padding: 0;
|
||||
"
|
||||
>Current <br />
|
||||
Episode <br />
|
||||
{{ rlstore.current_episode }}</span
|
||||
>
|
||||
</div>
|
||||
</v-list-item>
|
||||
<v-list-item style="padding: 0" class="py-2">
|
||||
<div class="tile">
|
||||
<span
|
||||
style="
|
||||
font-size: 14px;
|
||||
text-align: center;
|
||||
word-wrap: break-word;
|
||||
padding: 0;
|
||||
"
|
||||
>Best <br />
|
||||
Reward <br />
|
||||
{{ rlstore.best_reward.toFixed(1) }}</span
|
||||
>
|
||||
</div>
|
||||
</v-list-item>
|
||||
<v-list-item style="padding: 0" class="py-2">
|
||||
<div class="tile">
|
||||
<span
|
||||
style="
|
||||
font-size: 14px;
|
||||
text-align: center;
|
||||
word-wrap: break-word;
|
||||
padding: 0;
|
||||
"
|
||||
>User <br />
|
||||
Reward <br />
|
||||
{{ rlstore.last_user_reward.toFixed(1) }}</span
|
||||
>
|
||||
</div>
|
||||
</v-list-item>
|
||||
</v-list>
|
||||
</v-navigation-drawer>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import { useRLStore } from "@/store/RLStore";
|
||||
const rlstore = useRLStore();
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.tile {
|
||||
width: 63px;
|
||||
height: 64px;
|
||||
padding: 0;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
border-top: 1px solid rgba(255, 255, 255, 0.12);
|
||||
border-bottom: 1px solid rgba(255, 255, 255, 0.12);
|
||||
}
|
||||
</style>
|
||||
@ -1,78 +0,0 @@
|
||||
<template>
|
||||
<v-container fluid class="sub-layout">
|
||||
<v-row no-gutters>
|
||||
<v-col cols="12" md="8">
|
||||
<v-row no-gutters>
|
||||
<v-col cols="12">
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: 'calc(40vh - 24px)', width: '100%' }"
|
||||
>
|
||||
<policy-plot />
|
||||
</v-card>
|
||||
</v-col>
|
||||
<v-col cols="12">
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: 'calc(20vh - 24px)', width: '100%' }"
|
||||
>
|
||||
<weight-tuner />
|
||||
</v-card>
|
||||
</v-col>
|
||||
<v-col cols="12">
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: 'calc(40vh - 24px)', width: '100%' }"
|
||||
>
|
||||
<reward-plot />
|
||||
</v-card>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</v-col>
|
||||
<v-col cols="12" md="4">
|
||||
<v-row no-gutters>
|
||||
<v-col cols="12">
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: 'calc(40vh - 24px)', width: '100%' }"
|
||||
>
|
||||
<RLCanvas />
|
||||
</v-card>
|
||||
</v-col>
|
||||
<v-col cols="12">
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: 'calc(60vh - 48px)', width: '100%' }"
|
||||
>
|
||||
<control-panel />
|
||||
</v-card>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</v-container>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import WeightTuner from "@/components/WeightTuner.vue";
|
||||
import RewardPlot from "@/components/RewardPlot.vue";
|
||||
import PolicyPlot from "@/components/PolicyPlot.vue";
|
||||
import ControlPanel from "@/components/ControlPanel.vue";
|
||||
import RLCanvas from "@/components/RLCanvas.vue";
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.sub-layout {
|
||||
padding: 0;
|
||||
margin: 1px 0 0 0;
|
||||
}
|
||||
.tile {
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
|
||||
border: 1px solid #333;
|
||||
}
|
||||
</style>
|
||||
@ -1,67 +0,0 @@
|
||||
<template>
|
||||
<v-row no-gutters justify="center" class="weight-tuner">
|
||||
<!-- eslint-disable-next-line -->
|
||||
<v-col v-for="(_ , idx) in weights" :key="idx">
|
||||
<div class="weight-container">
|
||||
<vue-slider
|
||||
class="slider-margin-bottom"
|
||||
v-model="weights[idx]"
|
||||
@change="updateWeight(idx, $event)"
|
||||
direction="btt"
|
||||
:height="100"
|
||||
:min="-1"
|
||||
:max="1"
|
||||
:interval="0.01"
|
||||
:disabled="store.weights_fixed[idx]"
|
||||
/>
|
||||
<v-checkbox
|
||||
class="ma-0 checkbox-bottom"
|
||||
v-model="store.weights_fixed[idx]"
|
||||
/>
|
||||
</div>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import { usePStore } from "@/store/PolicyStore";
|
||||
|
||||
import VueSlider from "vue-slider-component";
|
||||
import "vue-slider-component/theme/default.css";
|
||||
import { computed } from "vue";
|
||||
|
||||
const store = usePStore();
|
||||
|
||||
const weights = computed({
|
||||
get: () => store.weights,
|
||||
set: (value) => store.setWeights(value),
|
||||
});
|
||||
|
||||
const updateWeight = (index, newValue) => {
|
||||
const newWeights = weights.value.slice();
|
||||
newWeights[index] = newValue;
|
||||
store.setWeights(newWeights);
|
||||
store.setTrigger();
|
||||
};
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.weight-tuner {
|
||||
height: 140px;
|
||||
}
|
||||
.weight-container {
|
||||
height: 180px;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
justify-content: space-between;
|
||||
align-items: center;
|
||||
}
|
||||
.slider-margin-bottom {
|
||||
margin-bottom: 0; /* adjust this value as necessary */
|
||||
}
|
||||
.checkbox-bottom {
|
||||
//position: absolute;
|
||||
//bottom: 0;
|
||||
padding: 5px 0 0 0;
|
||||
}
|
||||
</style>
|
||||
@ -1,19 +0,0 @@
|
||||
function rbf(x, centre, sigma) {
|
||||
return Math.exp(-Math.pow(x - centre, 2) / (2 * Math.pow(sigma, 2)));
|
||||
}
|
||||
|
||||
export function computeRbfCurve(nrPoints, weights) {
|
||||
const centers = Array.from(
|
||||
{ length: weights.length },
|
||||
(_, i) => (i * nrPoints) / (weights.length - 1)
|
||||
);
|
||||
const sigma = centers[1] / (2 * Math.sqrt(2 * Math.log(2)));
|
||||
|
||||
let policy = Array(nrPoints).fill(0);
|
||||
for (let x = 0; x < nrPoints; x++) {
|
||||
for (let i = 0; i < centers.length; i++) {
|
||||
policy[x] += weights[i] * rbf(x, centers[i], sigma);
|
||||
}
|
||||
}
|
||||
return policy;
|
||||
}
|
||||
@ -1,75 +0,0 @@
|
||||
import { defineStore } from "pinia";
|
||||
|
||||
export const useCStore = defineStore("Control Store", {
|
||||
state: () => {
|
||||
return {
|
||||
env: "Mountain Car",
|
||||
envs: ["Mountain Car", "Cartpole", "Acrobot", "Pendulum"],
|
||||
metric: "random",
|
||||
metrics: ["random", "regular", "improvement", "max_acquisition"],
|
||||
metrics_label: {
|
||||
random: "Probability",
|
||||
regular: "Repetition",
|
||||
improvement: "Improvement Threshold",
|
||||
max_acquisition: "Threshold",
|
||||
},
|
||||
metric_limits: {
|
||||
random: [0.0, 1.0, 0.01],
|
||||
regular: [1, 100, 1],
|
||||
improvement: [0.0, 1.0, 0.01],
|
||||
max_acquisition: [1, 200, 1],
|
||||
},
|
||||
acq_fun: "Expected Improvement",
|
||||
acq_funs: [
|
||||
"Expected Improvement",
|
||||
"Probability of Improvement",
|
||||
"Upper Confidence Bound",
|
||||
],
|
||||
nr_episodes: 50,
|
||||
nr_runs: 10,
|
||||
metric_parameter: 0.5,
|
||||
improvement_2: 5,
|
||||
sendWeights: false,
|
||||
runner: false,
|
||||
fixed_seed: false,
|
||||
save_result: false,
|
||||
overwrite: false,
|
||||
};
|
||||
},
|
||||
getters: {
|
||||
getEnv: (state) => state.env,
|
||||
getMetric: (state) => state.metric,
|
||||
getNrEpisodes: (state) => state.nr_episodes,
|
||||
getNrRuns: (state) => state.nr_runs,
|
||||
getMetricParameter: (state) => state.metric_parameter,
|
||||
getSendWeights: (state) => state.sendWeights,
|
||||
getRunner: (state) => state.runner,
|
||||
getAcq: (state) => state.acq_fun,
|
||||
},
|
||||
actions: {
|
||||
setEnv(value) {
|
||||
this.env = value;
|
||||
},
|
||||
setMetric(value) {
|
||||
this.metric = value;
|
||||
},
|
||||
setNrEpisodes(value) {
|
||||
this.nr_episodes = value;
|
||||
},
|
||||
setNrRuns(value) {
|
||||
this.nr_runs = value;
|
||||
},
|
||||
setMetricParameter(value) {
|
||||
this.metric_parameter = value;
|
||||
},
|
||||
setSendWeights() {
|
||||
this.sendWeights = !this.sendWeights;
|
||||
},
|
||||
setRunner() {
|
||||
this.runner = !this.runner;
|
||||
},
|
||||
setAcq(value) {
|
||||
this.acq_fun = value;
|
||||
},
|
||||
},
|
||||
});
|
||||
@ -1,47 +0,0 @@
|
||||
import { defineStore } from "pinia";
|
||||
|
||||
export const usePStore = defineStore("Policy Store", {
|
||||
state: () => {
|
||||
return {
|
||||
policy: Array(10).fill(0),
|
||||
nr_weights: 5,
|
||||
weights: [0, 0, 0, 0, 0],
|
||||
weights_fixed: [false, false, false, false, false],
|
||||
max_steps: 100,
|
||||
trigger: false,
|
||||
};
|
||||
},
|
||||
getters: {
|
||||
getPolicy: (state) => state.policy,
|
||||
getNrWeights: (state) => state.nr_weights,
|
||||
getWeights_Fixed: (state) => state.weights_fixed,
|
||||
getWeights: (state) => state.weights,
|
||||
getMaxSteps: (state) => state.max_steps,
|
||||
getTrigger: (state) => state.trigger,
|
||||
},
|
||||
actions: {
|
||||
setPolicy(value) {
|
||||
this.policy = null;
|
||||
this.policy = value;
|
||||
},
|
||||
setNrWeights(value) {
|
||||
this.nr_weights = value;
|
||||
this.weights = Array(this.nr_weights).fill(0);
|
||||
this.weights_fixed = Array(this.nr_weights).fill(false);
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
setWeights(value) {
|
||||
this.weights = value;
|
||||
},
|
||||
setMaxSteps(value) {
|
||||
this.max_steps = value;
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
setTrigger() {
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
resetWeights_Fixed() {
|
||||
this.weights_fixed = Array(this.nr_weights).fill(false);
|
||||
},
|
||||
},
|
||||
});
|
||||
@ -1,58 +0,0 @@
|
||||
import { defineStore } from "pinia";
|
||||
|
||||
export const useRLStore = defineStore("RL Store", {
|
||||
state: () => {
|
||||
return {
|
||||
red: Array(153600).fill(120),
|
||||
green: Array(153600).fill(120),
|
||||
blue: Array(153600).fill(120),
|
||||
width: 480,
|
||||
height: 320,
|
||||
current_time: 0,
|
||||
current_run: 0,
|
||||
current_episode: 0,
|
||||
best_reward: 0.0,
|
||||
last_user_reward: 0.0,
|
||||
trigger: false,
|
||||
};
|
||||
},
|
||||
getters: {
|
||||
getRed: (state) => state.red,
|
||||
getGreen: (state) => state.green,
|
||||
getBlue: (state) => state.blue,
|
||||
getHeight: (state) => state.height,
|
||||
getWidth: (state) => state.width,
|
||||
getCurrentTime: (state) => state.current_time,
|
||||
getCurrentRun: (state) => state.current_run,
|
||||
getCurrentEpisode: (state) => state.current_episode,
|
||||
getBestReward: (state) => state.best_reward,
|
||||
getLastUserReward: (state) => state.last_user_reward,
|
||||
},
|
||||
actions: {
|
||||
setRgbArrays(red, green, blue) {
|
||||
this.red = red;
|
||||
this.green = green;
|
||||
this.blue = blue;
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
setDim(height, width) {
|
||||
this.height = height;
|
||||
this.width = width;
|
||||
},
|
||||
setCurrentTime(value) {
|
||||
this.current_time = value;
|
||||
},
|
||||
setCurrentRun(value) {
|
||||
this.current_run = value;
|
||||
},
|
||||
setCurrentEpisode(value) {
|
||||
this.current_episode = value;
|
||||
},
|
||||
setBestReward(value) {
|
||||
this.best_reward = value;
|
||||
},
|
||||
setLastUserReward(value) {
|
||||
this.last_user_reward = value;
|
||||
},
|
||||
},
|
||||
});
|
||||
@ -1,30 +0,0 @@
|
||||
import { defineStore } from "pinia";
|
||||
|
||||
export const useRStore = defineStore("Reward Store", {
|
||||
state: () => {
|
||||
return {
|
||||
reward_mean: [],
|
||||
reward_std: [],
|
||||
trigger: false,
|
||||
};
|
||||
},
|
||||
getters: {
|
||||
getMean: (state) => state.reward_mean,
|
||||
getStd: (state) => state.reward_std,
|
||||
getTrigger: (state) => state.trigger,
|
||||
},
|
||||
actions: {
|
||||
setMean(value) {
|
||||
this.reward_mean = value;
|
||||
},
|
||||
setStd(value) {
|
||||
this.reward_std = value;
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
addMeanManually(value) {
|
||||
this.reward_mean[this.reward_mean.length] = value;
|
||||
this.reward_std[this.reward_std.length] = 0;
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
},
|
||||
});
|
||||
@ -4,7 +4,7 @@
|
||||
<meta charset="UTF-8">
|
||||
<link rel="icon" href="/CPS_White.ico">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
<title>Active BO</title>
|
||||
<title>Fanuc Web</title>
|
||||
</head>
|
||||
<body>
|
||||
<div id="app"></div>
|
||||
|
Before Width: | Height: | Size: 100 KiB After Width: | Height: | Size: 100 KiB |
|
Before Width: | Height: | Size: 4.2 KiB After Width: | Height: | Size: 4.2 KiB |
|
Before Width: | Height: | Size: 14 KiB After Width: | Height: | Size: 14 KiB |
|
Before Width: | Height: | Size: 7.6 KiB After Width: | Height: | Size: 7.6 KiB |
15
FanucWeb/src/components/BaseLayout.vue
Normal file
15
FanucWeb/src/components/BaseLayout.vue
Normal file
@ -0,0 +1,15 @@
|
||||
<template>
|
||||
<TopBar />
|
||||
<SideBar />
|
||||
<SubLayout />
|
||||
<RosBar />
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import TopBar from "@/components/TopBar.vue";
|
||||
import RosBar from "@/components/RosBar.vue";
|
||||
import SideBar from "@/components/SideBar.vue";
|
||||
import SubLayout from "@/components/SubLayout.vue";
|
||||
</script>
|
||||
|
||||
<style scoped></style>
|
||||
104
FanucWeb/src/components/RosBar.vue
Normal file
104
FanucWeb/src/components/RosBar.vue
Normal file
@ -0,0 +1,104 @@
|
||||
<template>
|
||||
<v-navigation-drawer v-model="store.rosBarOpened" temporary location="right">
|
||||
<v-container fluid>
|
||||
<v-row justify="space-between">
|
||||
<v-col cols="6" md="12">
|
||||
<v-text-field
|
||||
v-model="formState.ipaddress"
|
||||
label="IP Address"
|
||||
:disabled="connectionState"
|
||||
/>
|
||||
<v-text-field
|
||||
v-model="formState.port"
|
||||
label="Port"
|
||||
:disabled="connectionState"
|
||||
/>
|
||||
<v-switch
|
||||
@change="updateConnectionState"
|
||||
true-value="connected"
|
||||
false-value="not connected"
|
||||
:label="`${formState.connect}`"
|
||||
/>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</v-container>
|
||||
</v-navigation-drawer>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import * as ROS from "roslib";
|
||||
import { useBWStore } from "@/store/BaseWebsiteStore";
|
||||
|
||||
import { reactive, ref, watch } from "vue";
|
||||
|
||||
const store = useBWStore();
|
||||
|
||||
const formState = reactive({
|
||||
ipaddress: "localhost",
|
||||
port: "9090",
|
||||
connect: "not connected",
|
||||
// connectionState: computed(() => formState.connect !== 'not connected'),
|
||||
});
|
||||
|
||||
const connectionState = ref(false);
|
||||
const stateCounter = ref([0, 0, 0]);
|
||||
|
||||
// Open Connection to ROSBridge and subscribe the topics.
|
||||
const ros = new ROS.Ros();
|
||||
const ros_eval = new ROS.Ros();
|
||||
|
||||
ros.on("connection", () => {
|
||||
stateCounter.value[0] += 1;
|
||||
});
|
||||
ros_eval.on("connection", () => {});
|
||||
|
||||
ros.on("error", (error) => {
|
||||
stateCounter.value[1] += 1;
|
||||
console.log(error);
|
||||
});
|
||||
ros_eval.on("error", () => {});
|
||||
|
||||
ros.on("close", () => {
|
||||
stateCounter.value[2] += 1;
|
||||
});
|
||||
ros_eval.on("close", () => {});
|
||||
|
||||
function updateConnectionState() {
|
||||
connectionState.value = !connectionState.value;
|
||||
if (formState.connect === "not connected") {
|
||||
formState.connect = "connected";
|
||||
const rosUrl = `ws://${formState.ipaddress}:${formState.port}`;
|
||||
ros.connect(rosUrl);
|
||||
ros_eval.connect(rosUrl);
|
||||
} else {
|
||||
formState.connect = "not connected";
|
||||
ros.close();
|
||||
ros_eval.close();
|
||||
}
|
||||
}
|
||||
|
||||
const lastStateCounter = [0, 0, 0];
|
||||
|
||||
// ROS2 State Observer
|
||||
watch(stateCounter.value, (newValue) => {
|
||||
let currentState = 0;
|
||||
for (let i = 0; i < lastStateCounter.length; i += 1) {
|
||||
if (newValue[i] - lastStateCounter[i] === 1) {
|
||||
currentState = i;
|
||||
}
|
||||
lastStateCounter[i] = newValue[i];
|
||||
}
|
||||
if (currentState === 0) {
|
||||
store.setRosConState("connected");
|
||||
} else if (currentState === 1) {
|
||||
store.setRosConState("error");
|
||||
} else if (currentState === 2) {
|
||||
store.setRosConState("not connected");
|
||||
}
|
||||
});
|
||||
|
||||
// ROS Topics and services below here
|
||||
|
||||
</script>
|
||||
|
||||
<style scoped></style>
|
||||
21
FanucWeb/src/components/SideBar.vue
Normal file
21
FanucWeb/src/components/SideBar.vue
Normal file
@ -0,0 +1,21 @@
|
||||
<template>
|
||||
<v-navigation-drawer class="nav-drawer" permanent width="64">
|
||||
</v-navigation-drawer>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.tile {
|
||||
width: 63px;
|
||||
height: 64px;
|
||||
padding: 0;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
border-top: 1px solid rgba(255, 255, 255, 0.12);
|
||||
border-bottom: 1px solid rgba(255, 255, 255, 0.12);
|
||||
}
|
||||
</style>
|
||||
19
FanucWeb/src/components/SubLayout.vue
Normal file
19
FanucWeb/src/components/SubLayout.vue
Normal file
@ -0,0 +1,19 @@
|
||||
<template></template>
|
||||
|
||||
<script setup></script>
|
||||
|
||||
<style scoped>
|
||||
.sub-layout {
|
||||
padding: 0;
|
||||
margin: 1px 0 0 0;
|
||||
}
|
||||
.tile {
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
|
||||
border: 1px solid #333;
|
||||
}
|
||||
</style>
|
||||
Loading…
Reference in New Issue
Block a user