Adding Empowerment functions

empowerment/empowerment_functions.py

@@ -0,0 +1,23 @@
+import numpy as np
+
+
+def total_states(states, model, actions, states_tot=[]):
+    if type(states) == int:
+        states_tot.extend(list(set([model.act(states, a, check_wall=True) for a in actions])))
+    else:
+        for i in range(len(states)):
+            total_states(int(states[i]), model, actions, states_tot)
+    return list(set(states_tot))
+
+def compute_empowerment(model, n_steps):
+    states = range(model.height * model.width)
+
+    actions = ["N", "S", "E", "W", "_"]
+    empowerment = []
+   
+    for s in states:
+        for i in range(n_steps):
+            s = total_states(s, model, actions,[])
+        empowerment.append(np.log2(len(s)))
+
+    return np.asarray(empowerment)

empowerment/maze.py

@@ -1,6 +1,7 @@
 import numpy as np
-from collections import OrderedDict
 import matplotlib.pyplot as plt
+from collections import OrderedDict
+from empowerment_functions import compute_empowerment
 
 
 class Maze(object):
@@ -62,12 +63,11 @@ class Maze(object):
         return cell[0] * self.width + cell[1]
 
     
-    def plot(self):
+    def plot(self, colorMap = None):
-        G = np.zeros([self.height, self.width])
+        G = np.zeros([self.height, self.width]) if colorMap is None else colorMap.copy()
-        plt.pcolor(G, cmap = 'Greys')
+        plt.pcolor(G, cmap = 'gray_r')
         plt.colorbar()
 
-        print(self.wall_states)
         for states in self.wall_states:
             s, a = states
             if a == "N":
@@ -76,7 +76,7 @@ class Maze(object):
                 plt.vlines(x = self.state_to_cell(s)[1]+1, ymin=self.state_to_cell(s)[0], ymax=self.state_to_cell(s)[0]+1, color = 'w', linewidth = 2)
 
 
-if __name__ == "__main__":
+def klyubin_world():
     height, width = 10, 10
     m = Maze(height, width)
 
@@ -98,5 +98,12 @@ if __name__ == "__main__":
     m.add_wall([6, 4], "E")
     m.add_wall([7, 4], "E")
 
-    m.plot()
+    return m
+
+if __name__ == "__main__":
+    maze = klyubin_world()
+    emp = compute_empowerment(maze,n_steps=10).reshape(10,10)
+    print(emp.min(), emp.max())
+
+    maze.plot(colorMap=emp)
     plt.show()