train.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Training"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "from collections import deque\n",
    "import pickle\n",
    "import torch\n",
    "\n",
    "from ppo import PPOAgent\n",
    "from utils import collect_trajectories, random_sample\n",
    "from parallelEnv import parallelEnv\n",
    "\n",
    "def train(episode,env_name):\n",
    "    gamma = .99\n",
    "    gae_lambda = 0.95\n",
    "    use_gae = True\n",
    "    beta = .01\n",
    "    cliprange = 0.1\n",
    "    best_score = -np.inf\n",
    "    goal_score = 195.0\n",
    "\n",
    "    nenvs = 8\n",
    "    rollout_length = 200\n",
    "    minibatches = 10*8\n",
    "    # Calculate the batch_size\n",
    "    nbatch = nenvs * rollout_length\n",
    "    optimization_epochs = 4\n",
    "    \n",
    "    device=torch.device(\"cuda:0\" if torch.cuda.is_available() else \"cpu\")\n",
    "\n",
    "    envs = parallelEnv(env_name, nenvs, seed=1234)\n",
    "    agent = PPOAgent(state_size=envs.observation_space.shape[0],\n",
    "                     action_size=envs.action_space.n, \n",
    "                     seed=0,\n",
    "                     hidden_layers=[64,64],\n",
    "                     lr_policy=1e-4, \n",
    "                     use_reset=True,\n",
    "                     device=device)\n",
    "    print(\"------------------\")\n",
    "    print(agent.policy)\n",
    "    print(\"------------------\")\n",
    "\n",
    "    # keep track of progress\n",
    "    mean_rewards = []\n",
    "    scores_window = deque(maxlen=100)\n",
    "    loss_storage = []\n",
    "\n",
    "    for i_episode in range(episode+1):\n",
    "        log_probs_old, states, actions, rewards, values, dones, vals_last = collect_trajectories(envs, agent.policy, rollout_length)\n",
    "\n",
    "        returns = np.zeros_like(rewards)\n",
    "        advantages = np.zeros_like(rewards)\n",
    "        \n",
    "        if not use_gae:\n",
    "            for t in reversed(range(rollout_length)):\n",
    "                if t == rollout_length - 1:\n",
    "                    returns[t] = rewards[t] + gamma * (1-dones[t]) * vals_last\n",
    "                else:\n",
    "                    returns[t] = rewards[t] + gamma * (1-dones[t]) * returns[t+1]\n",
    "                advantages[t] = returns[t] - values[t]\n",
    "        else:\n",
    "            for t in reversed(range(rollout_length)):\n",
    "                if t == rollout_length - 1:\n",
    "                    returns[t] = rewards[t] + gamma * (1-dones[t]) * vals_last\n",
    "                    td_error = returns[t] - values[t]\n",
    "                else:\n",
    "                    returns[t] = rewards[t] + gamma * (1-dones[t]) * returns[t+1]\n",
    "                    td_error = rewards[t] + gamma * (1-dones[t]) * values[t+1] - values[t]\n",
    "                advantages[t] = advantages[t] * gae_lambda * gamma * (1-dones[t]) + td_error\n",
    "        \n",
    "        # convert to pytorch tensors and move to gpu if available\n",
    "        returns = torch.from_numpy(returns).float().to(device).view(-1,)\n",
    "        advantages = torch.from_numpy(advantages).float().to(device).view(-1,)\n",
    "        advantages = (advantages - advantages.mean()) / (advantages.std() + 1e-10)\n",
    "        \n",
    "        for _ in range(optimization_epochs):\n",
    "            sampler = random_sample(nbatch, minibatches)\n",
    "            for inds in sampler:\n",
    "                mb_log_probs_old = log_probs_old[inds]\n",
    "                mb_states = states[inds]\n",
    "                mb_actions = actions[inds]\n",
    "                mb_returns = returns[inds]\n",
    "                mb_advantages = advantages[inds]\n",
    "                loss_p, loss_v, loss_ent = agent.update(mb_log_probs_old, mb_states, mb_actions, mb_returns, mb_advantages, cliprange=cliprange, beta=beta)\n",
    "                loss_storage.append([loss_p, loss_v, loss_ent])\n",
    "                \n",
    "        total_rewards = np.sum(rewards, axis=0)\n",
    "        scores_window.append(np.mean(total_rewards)) # last 100 scores\n",
    "        mean_rewards.append(np.mean(total_rewards))  # get the average reward of the parallel environments\n",
    "        cliprange*=.999                              # the clipping parameter reduces as time goes on\n",
    "        beta*=.999                                   # the regulation term reduces\n",
    "    \n",
    "        if i_episode % 100 == 0:\n",
    "            print('\\rEpisode {}\\tAverage Score: {:.2f}'.format(i_episode, np.mean(scores_window)))\n",
    "            print(total_rewards)\n",
    "        if np.mean(scores_window)>=goal_score and np.mean(scores_window)>=best_score:            \n",
    "            torch.save(agent.policy.state_dict(), \"policy_cartpole.pth\")\n",
    "            best_score = np.mean(scores_window)\n",
    "    \n",
    "    return mean_rewards, loss_storage"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\u001b[33mWARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.\u001b[0m\n",
      "\u001b[33mWARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.\u001b[0m\n",
      "\u001b[33mWARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.\u001b[0m\n",
      "\u001b[33mWARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.\u001b[0m\n",
      "\u001b[33mWARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.\u001b[0m\n",
      "\u001b[33mWARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.\u001b[0m\n",
      "\u001b[33mWARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.\u001b[0m\n",
      "\u001b[33mWARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.\u001b[0m\n",
      "------------------\n",
      "Policy(\n",
      "  (main_net): FCNet(\n",
      "    (layers): ModuleList(\n",
      "      (0): Linear(in_features=4, out_features=64, bias=True)\n",
      "      (1): Linear(in_features=64, out_features=64, bias=True)\n",
      "    )\n",
      "  )\n",
      "  (fc_actor): Linear(in_features=64, out_features=2, bias=True)\n",
      "  (fc_critic): Linear(in_features=64, out_features=1, bias=True)\n",
      ")\n",
      "------------------\n",
      "Episode 0\tAverage Score: 190.75\n",
      "[189. 193. 191. 189. 193. 190. 188. 193.]\n",
      "Episode 100\tAverage Score: 192.55\n",
      "[196. 196. 196. 197. 198. 198. 196. 196.]\n",
      "Episode 200\tAverage Score: 198.14\n",
      "[199. 199. 199. 198. 199. 199. 199. 199.]\n",
      "Episode 300\tAverage Score: 199.07\n",
      "[199. 199. 199. 199. 200. 199. 199. 199.]\n",
      "Episode 400\tAverage Score: 199.66\n",
      "[200. 200. 199. 200. 200. 200. 200. 200.]\n"
     ]
    }
   ],
   "source": [
    "mean_rewards, loss = train(400,'CartPole-v0')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "\n",
    "plt.rcParams['xtick.direction'] = 'in'\n",
    "plt.rcParams['ytick.direction'] = 'in'\n",
    "plt.rcParams['font.size'] = 10"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [
    {
     "data": {
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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(mean_rewards)\n",
    "plt.ylabel('Average score')\n",
    "plt.xlabel('episode')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "---"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# animation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\u001b[33mWARN: gym.spaces.Box autodetected dtype as <class 'numpy.float32'>. Please provide explicit dtype.\u001b[0m\n"
     ]
    }
   ],
   "source": [
    "from ppo import PPOAgent\n",
    "import torch\n",
    "import gym\n",
    "\n",
    "env= gym.make('CartPole-v0')\n",
    "device = torch.device(\"cuda:0\" if torch.cuda.is_available() else \"cpu\")\n",
    "agent = PPOAgent(state_size=env.observation_space.shape[0],\n",
    "                 action_size=env.action_space.n, \n",
    "                 seed=0,\n",
    "                 hidden_layers=[64,64],\n",
    "                 lr_policy=1e-4, \n",
    "                 use_reset=True,\n",
    "                 device=device)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'0.10.5'"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "gym.__version__"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "agent.policy.load_state_dict(torch.load('policy_cartpole.pth', map_location=lambda storage, loc: storage))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [],
   "source": [
    "from matplotlib import animation, rc\n",
    "rc('animation', html='jshtml')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'3.0.0'"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "import matplotlib\n",
    "matplotlib.__version__"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [],
   "source": [
    "import random as rand\n",
    "\n",
    "# function to animate a list of frames\n",
    "def animate_frames(frames):\n",
    "    plt.axis('off')\n",
    "\n",
    "    # color option for plotting\n",
    "    # use Greys for greyscale\n",
    "    cmap = None if len(frames[0].shape)==3 else 'Greys'\n",
    "    patch = plt.imshow(frames[0], cmap=cmap)  \n",
    "\n",
    "    fanim = animation.FuncAnimation(plt.gcf(), \\\n",
    "        lambda x: patch.set_data(frames[x]), frames = len(frames), interval=50)\n",
    "    \n",
    "    return fanim"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [],
   "source": [
    "def play(env, policy, time):\n",
    "    frame1 = env.reset()\n",
    "    \n",
    "    anim_frames = []\n",
    "    \n",
    "    for i in range(time):\n",
    "        \n",
    "        anim_frames.append(env.render(mode='rgb_array'))\n",
    "        frame_input = torch.from_numpy(frame1).unsqueeze(0).float().to(device)\n",
    "        action = policy.act(frame_input)['a'].cpu().numpy()\n",
    "        frame1, _, is_done, _ = env.step(int(action))\n",
    "\n",
    "        if is_done:\n",
    "            print(\"reward :\", i+1)\n",
    "            break\n",
    "    \n",
    "    env.close()\n",
    "    \n",
    "    return animate_frames(anim_frames)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "reward : 200\n"
     ]
    },
    {
     "data": {
      "text/html": [
       "\n",
       "<link rel=\"stylesheet\"\n",
       "href=\"https://maxcdn.bootstrapcdn.com/font-awesome/4.4.0/\n",
       "css/font-awesome.min.css\">\n",
       "<script language=\"javascript\">\n",
       "  /* Define the Animation class */\n",
       "  function Animation(frames, img_id, slider_id, interval, loop_select_id){\n",
       "    this.img_id = img_id;\n",
       "    this.slider_id = slider_id;\n",
       "    this.loop_select_id = loop_select_id;\n",
       "    this.interval = interval;\n",
       "    this.current_frame = 0;\n",
       "    this.direction = 0;\n",
       "    this.timer = null;\n",
       "    this.frames = new Array(frames.length);\n",
       "\n",
       "    for (var i=0; i<frames.length; i++)\n",
       "    {\n",
       "     this.frames[i] = new Image();\n",
       "     this.frames[i].src = frames[i];\n",
       "    }\n",
       "    document.getElementById(this.slider_id).max = this.frames.length - 1;\n",
       "    this.set_frame(this.current_frame);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.get_loop_state = function(){\n",
       "    var button_group = document[this.loop_select_id].state;\n",
       "    for (var i = 0; i < button_group.length; i++) {\n",
       "        var button = button_group[i];\n",
       "        if (button.checked) {\n",
       "            return button.value;\n",
       "        }\n",
       "    }\n",
       "    return undefined;\n",
       "  }\n",
       "\n",
       "  Animation.prototype.set_frame = function(frame){\n",
       "    this.current_frame = frame;\n",
       "    document.getElementById(this.img_id).src =\n",
       "            this.frames[this.current_frame].src;\n",
       "    document.getElementById(this.slider_id).value = this.current_frame;\n",
       "  }\n",
       "\n",
       "  Animation.prototype.next_frame = function()\n",
       "  {\n",
       "    this.set_frame(Math.min(this.frames.length - 1, this.current_frame + 1));\n",
       "  }\n",
       "\n",
       "  Animation.prototype.previous_frame = function()\n",
       "  {\n",
       "    this.set_frame(Math.max(0, this.current_frame - 1));\n",
       "  }\n",
       "\n",
       "  Animation.prototype.first_frame = function()\n",
       "  {\n",
       "    this.set_frame(0);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.last_frame = function()\n",
       "  {\n",
       "    this.set_frame(this.frames.length - 1);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.slower = function()\n",
       "  {\n",
       "    this.interval /= 0.7;\n",
       "    if(this.direction > 0){this.play_animation();}\n",
       "    else if(this.direction < 0){this.reverse_animation();}\n",
       "  }\n",
       "\n",
       "  Animation.prototype.faster = function()\n",
       "  {\n",
       "    this.interval *= 0.7;\n",
       "    if(this.direction > 0){this.play_animation();}\n",
       "    else if(this.direction < 0){this.reverse_animation();}\n",
       "  }\n",
       "\n",
       "  Animation.prototype.anim_step_forward = function()\n",
       "  {\n",
       "    this.current_frame += 1;\n",
       "    if(this.current_frame < this.frames.length){\n",
       "      this.set_frame(this.current_frame);\n",
       "    }else{\n",
       "      var loop_state = this.get_loop_state();\n",
       "      if(loop_state == \"loop\"){\n",
       "        this.first_frame();\n",
       "      }else if(loop_state == \"reflect\"){\n",
       "        this.last_frame();\n",
       "        this.reverse_animation();\n",
       "      }else{\n",
       "        this.pause_animation();\n",
       "        this.last_frame();\n",
       "      }\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.anim_step_reverse = function()\n",
       "  {\n",
       "    this.current_frame -= 1;\n",
       "    if(this.current_frame >= 0){\n",
       "      this.set_frame(this.current_frame);\n",
       "    }else{\n",
       "      var loop_state = this.get_loop_state();\n",
       "      if(loop_state == \"loop\"){\n",
       "        this.last_frame();\n",
       "      }else if(loop_state == \"reflect\"){\n",
       "        this.first_frame();\n",
       "        this.play_animation();\n",
       "      }else{\n",
       "        this.pause_animation();\n",
       "        this.first_frame();\n",
       "      }\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.pause_animation = function()\n",
       "  {\n",
       "    this.direction = 0;\n",
       "    if (this.timer){\n",
       "      clearInterval(this.timer);\n",
       "      this.timer = null;\n",
       "    }\n",
       "  }\n",
       "\n",
       "  Animation.prototype.play_animation = function()\n",
       "  {\n",
       "    this.pause_animation();\n",
       "    this.direction = 1;\n",
       "    var t = this;\n",
       "    if (!this.timer) this.timer = setInterval(function() {\n",
       "        t.anim_step_forward();\n",
       "    }, this.interval);\n",
       "  }\n",
       "\n",
       "  Animation.prototype.reverse_animation = function()\n",
       "  {\n",
       "    this.pause_animation();\n",
       "    this.direction = -1;\n",
       "    var t = this;\n",
       "    if (!this.timer) this.timer = setInterval(function() {\n",
       "        t.anim_step_reverse();\n",
       "    }, this.interval);\n",
       "  }\n",
       "</script>\n",
       "\n",
       "<div class=\"animation\" align=\"center\">\n",
       "    <img id=\"_anim_imga8bc913249d44379803c2fc0467fd715\">\n",
       "    <br>\n",
       "    <input id=\"_anim_slidera8bc913249d44379803c2fc0467fd715\" type=\"range\" style=\"width:350px\"\n",
       "           name=\"points\" min=\"0\" max=\"1\" step=\"1\" value=\"0\"\n",
       "           onchange=\"anima8bc913249d44379803c2fc0467fd715.set_frame(parseInt(this.value));\"></input>\n",
       "    <br>\n",
       "    <button onclick=\"anima8bc913249d44379803c2fc0467fd715.slower()\"><i class=\"fa fa-minus\"></i></button>\n",
       "    <button onclick=\"anima8bc913249d44379803c2fc0467fd715.first_frame()\"><i class=\"fa fa-fast-backward\">\n",
       "        </i></button>\n",
       "    <button onclick=\"anima8bc913249d44379803c2fc0467fd715.previous_frame()\">\n",
       "        <i class=\"fa fa-step-backward\"></i></button>\n",
       "    <button onclick=\"anima8bc913249d44379803c2fc0467fd715.reverse_animation()\">\n",
       "        <i class=\"fa fa-play fa-flip-horizontal\"></i></button>\n",
       "    <button onclick=\"anima8bc913249d44379803c2fc0467fd715.pause_animation()\"><i class=\"fa fa-pause\">\n",
       "        </i></button>\n",
       "    <button onclick=\"anima8bc913249d44379803c2fc0467fd715.play_animation()\"><i class=\"fa fa-play\"></i>\n",
       "        </button>\n",
       "    <button onclick=\"anima8bc913249d44379803c2fc0467fd715.next_frame()\"><i class=\"fa fa-step-forward\">\n",
       "        </i></button>\n",
       "    <button onclick=\"anima8bc913249d44379803c2fc0467fd715.last_frame()\"><i class=\"fa fa-fast-forward\">\n",
       "        </i></button>\n",
       "    <button onclick=\"anima8bc913249d44379803c2fc0467fd715.faster()\"><i class=\"fa fa-plus\"></i></button>\n",
       "  <form action=\"#n\" name=\"_anim_loop_selecta8bc913249d44379803c2fc0467fd715\" class=\"anim_control\">\n",
       "    <input type=\"radio\" name=\"state\"\n",
       "           value=\"once\" > Once </input>\n",
       "    <input type=\"radio\" name=\"state\"\n",
       "           value=\"loop\" checked> Loop </input>\n",
       "    <input type=\"radio\" name=\"state\"\n",
       "           value=\"reflect\" > Reflect </input>\n",
       "  </form>\n",
       "</div>\n",
       "\n",
       "\n",
       "<script language=\"javascript\">\n",
       "  /* Instantiate the Animation class. */\n",
       "  /* The IDs given should match those used in the template above. */\n",
       "  (function() {\n",
       "    var img_id = \"_anim_imga8bc913249d44379803c2fc0467fd715\";\n",
       "    var slider_id = \"_anim_slidera8bc913249d44379803c2fc0467fd715\";\n",
       "    var loop_select_id = \"_anim_loop_selecta8bc913249d44379803c2fc0467fd715\";\n",
       "    var frames = new Array(200);\n",
       "    \n",
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       "koABkCRgACQJGABJAhZ0Xk+jRwAYTsAASBIwAJIEDIAkAQMgScAASBIwAJIEDIAkAQMgScB27vH4\\\n",
       "PHoEgF0SMACSBAyAJAEDIEnAAEgSMACSBAyAJAEDIEnAAEgSMACSBCzqvJ5GjwAwlIANtCzLj26/\\\n",
       "ff137wFQJWAAJB1GD8DPvbwe3+8/PawDJwEYzwos4mO8rj0GmI2ABYgVwCUBC3C4EOCSgEV8jpio\\\n",
       "AbNbtm3bRg8xq788vd1uBv6bac5CnP1aqNm3H7iu/OF2moDtcSdZgQHczndgACQJGABJAgZAkoAB\\\n",
       "kCRgACQJGABJAgZA0jTXge2Ra7MAbmcFBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCS\\\n",
       "gAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkC\\\n",
       "BkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkY\\\n",
       "AEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAA\\\n",
       "JAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQ\\\n",
       "JGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAkYAEkCBkDSG5rrM0vFdP7qAAAAAElF\\\n",
       "TkSuQmCC\\\n",
       "\"\n",
       "  frames[199] = \"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAbAAAAEgCAYAAADVKCZpAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\\\n",
       "AAALEgAACxIB0t1+/AAAADl0RVh0U29mdHdhcmUAbWF0cGxvdGxpYiB2ZXJzaW9uIDMuMC4wLCBo\\\n",
       "dHRwOi8vbWF0cGxvdGxpYi5vcmcvqOYd8AAABOhJREFUeJzt3cFNAkEYgFHWUIVtaBu2ATVJG9Zh\\\n",
       "G7axHjwYBcFIdOdz30s4wIH8ZA8fAzuZaZ7neQMAMTdLDwAAPyFgACQJGABJAgZAkoABkCRgACQJ\\\n",
       "GABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRg\\\n",
       "ACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoAB\\\n",
       "kCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZA\\\n",
       "koABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJ\\\n",
       "AgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJ\\\n",
       "GABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRg\\\n",
       "ACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoAB\\\n",
       "kCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJGABJ26UH\\\n",
       "4NjzYX/02t3ucYFJAMZlBQZAkoABkCRgACQJGABJAgZAkoABkCRgACQJWMSpvWEAayZgACQJGABJ\\\n",
       "AgZAkoABkCRgACQJGABJAgZAkoABkCRgA3J4JcBlAgZAkoABkCRgACQJGABJAgZAkoABkCRgACQJ\\\n",
       "WIhDLQHeCRgASQIGQJKAAZAkYAAkCRgASQIGQJKAAZAkYAAkCdigHGoJcJ6AAZAkYAAkCRgASQIG\\\n",
       "QJKAAZAkYAAkCRgASQIW41BLgDcCBkCSgAGQJGAAJAkYAEkCBkCSgAGQJGAAJAnYwJwJBvA1AQMg\\\n",
       "ScAASBIwAJIEDIAkAQMgScAASBIwAJIEDIAkAQtyqCWAgAEQJWALmKbp24/ffA+AMgEDIGm79ABc\\\n",
       "9vSy+/D84faw0CQA47ACC/ocNIA1ErDBiRXAaQI2OD8XApwmYIO73x8HTNQANptpnud56SHW5q9v\\\n",
       "bXeJgf9oNXchrnk/1Jo/O3Be+QvuagI20kWyAgO4nv/AAEgSMACSBAyAJAEDIEnAAEgSMACSBAyA\\\n",
       "pNXsAxuJfVkA17MCAyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQB\\\n",
       "AyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQM\\\n",
       "gCQBAyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJwABIEjAA\\\n",
       "kgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJwABI\\\n",
       "EjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyBJ\\\n",
       "wABIEjAAkgQMgCQBAyBJwABIEjAAkgQMgCQBAyDpFRIBMYN9IORLAAAAAElFTkSuQmCC\\\n",
       "\"\n",
       "\n",
       "\n",
       "    /* set a timeout to make sure all the above elements are created before\n",
       "       the object is initialized. */\n",
       "    setTimeout(function() {\n",
       "        anima8bc913249d44379803c2fc0467fd715 = new Animation(frames, img_id, slider_id, 50.0,\n",
       "                                 loop_select_id);\n",
       "    }, 0);\n",
       "  })()\n",
       "</script>\n"
      ],
      "text/plain": [
       "<matplotlib.animation.FuncAnimation at 0x21f4af51f60>"
      ]
     },
     "execution_count": 17,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAXQAAAD5CAYAAAA3Os7hAAAABHNCSVQICAgIfAhkiAAAAAlwSFlzAAALEgAACxIB0t1+/AAAADl0RVh0U29mdHdhcmUAbWF0cGxvdGxpYiB2ZXJzaW9uIDMuMC4wLCBodHRwOi8vbWF0cGxvdGxpYi5vcmcvqOYd8AAABCBJREFUeJzt3dFpwlAYgNGkOEXX6Bxdw86ka3QO1+ga6UspFEux1nrN5zkgaEDufYgfPyHEeVmWCYD1exi9AQAuQ9ABIgQdIELQASIEHSBC0AEiBB0gQtABIgQdIELQASI2A9f2zAGAY/O5XzShA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkDEZvQG4JYc9i9Hx562uwE7gd8zoQNECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6fPjuWeiwJoIOECHoABGCDhAh6AARgg4QIegAEYIOECHoABGCDhAh6AARgg4QIegAEYIOECHoABGCDhAh6AARgg4QIejwg6ftbvQW4GSCDhAh6AARgg4QIegAEYIOECHoABGCDhAh6AARgg4QIegAEYIOECHoABGCDhAh6AARgg4QIegAEYIOECHoME3TYf9ydMy/FbE2gg4QIegAEYIOECHoABGCDhAh6AARgg4QIegAEYJO1jzPJ7/+4/twbYIOELEZvQG4Fa9v28/3z4/7gTuB85jQYfoa8+8+wxoIOkCEoANECDpMx9fMXUNnjeZlWUatPWxh7sM1bycc+Dui5+wTd9hdLu7dpcT5zKX8ZTgYFnQTDf/NhM69cQ0dIELQASIEHSBC0AEiBB0gQtABIgQdIMLjc8lybzj3xoQOECHoABGCDhAh6AARgg4QIegAEYIOECHoABGCDhAh6AARgg4QIegAEYIOECHoABGCDhAh6AARgg4QIegAEYIOECHoABGCDhAh6AARgg4QIegAEYIOECHoABGCDhAh6AARgg4QIegAEYIOECHoABGCDhAh6AARgg4QIegAEYIOECHoABGCDhAh6AARgg4QIegAEYIOECHoABGCDhCxGbj2PHBtgBwTOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANECDpAhKADRAg6QISgA0QIOkCEoANEvAOlais5zx+CswAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "play(env, agent.policy, 200)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "drlnd",
   "language": "python",
   "name": "drlnd"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.6"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}