diff --git a/src/main/java/org/opennars/lab/microworld/SimNAR.java b/src/main/java/org/opennars/lab/microworld/SimNAR.java
index 01134e83b4e34407424dceb8b5dbef72bc40a722..3e142f04727b640ba645b70d37dc06b0f576541d 100755
--- a/src/main/java/org/opennars/lab/microworld/SimNAR.java
+++ b/src/main/java/org/opennars/lab/microworld/SimNAR.java
@@ -33,6 +33,7 @@ import java.util.List;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.opennars.entity.Concept;
+import org.opennars.entity.Sentence;
import org.opennars.entity.Task;
import org.opennars.gui.NARSwing;
import org.opennars.interfaces.Timable;
@@ -41,6 +42,7 @@ import org.opennars.io.Parser;
import org.opennars.language.Term;
import org.opennars.operator.Operation;
import org.opennars.operator.Operator;
+import org.opennars.util.test.ConceptMonitor;
public class SimNAR extends Frame {
@@ -264,13 +266,16 @@ public class SimNAR extends Frame {
{
Hai(){}
Nar nar;
- int nActions = 3;
+ int nActions = 4;
Hai(int nactions,int nstates) throws Exception
{
this.nActions = nactions; //for actions since we allow the same randomization phase as in QL
nar = new Nar();
+ nar.narParameters.NEG_OUTCOME_AVOIDANCE_EXPECTATION_THRESHOLD = 1337.2; //unreachable
+ System.out.println("AVOID THRESH: "+nar.narParameters.NEG_OUTCOME_AVOIDANCE_EXPECTATION_THRESHOLD);
nar.memory.addOperator(new Right("^Right"));
nar.memory.addOperator(new Left("^Left"));
+ nar.memory.addOperator(new Forward("^Forward"));
nar.narParameters.VOLUME = 0;
new NARSwing(nar);
//nar.start(0);
@@ -283,6 +288,19 @@ public class SimNAR extends Frame {
int lastAction=0;
+ public class Forward extends Operator {
+ public Forward(String name) {
+ super(name);
+ }
+
+ @Override
+ public List<Task> execute(Operation operation, Term[] args, Memory memory, Timable time) {
+ lastAction = 3;
+ memory.allowExecution = false;
+ System.out.println("Nar decide forward");
+ return null;
+ }
+ }
public class Right extends Operator {
public Right(String name) {
super(name);
@@ -313,12 +331,12 @@ public class SimNAR extends Frame {
int k=0;
float Alpha=0.1f;
String lastInput = "";
- int lasthealthy = 0;
int UpdateSOM(float[] viewField,float reward) //input and reward
{
for(int i=0;i<viewField.length;i++) {
if(viewField[i]>0.1f) {
- String s = "<{\""+String.valueOf(i)+"\"} --> [on]>. :|:"; // %"+String.valueOf(0.5f+0.5f*viewField[i])+"%";
+ System.out.println(i);
+ String s = "<{"+String.valueOf(i)+"} --> [on]>. :|:"; // %"+String.valueOf(0.5f+0.5f*viewField[i])+"%";
if(!lastInput.equals(s) || k%5 == 0) {
nar.addInput(s);
}
@@ -329,12 +347,128 @@ public class SimNAR extends Frame {
lastAction = 0;
k++;
if(k%2==0) {
- if(k%4 == 0) { //les priority than eating ^^
- nar.addInput("<{SELF} --> [healthy]>! :|:");
- }
+ //if(k%4 == 0) { //les priority than eating ^^
+ nar.addInput("<{SELF} --> [hurt]>! :|: %0%");
+ //}
nar.addInput("<{SELF} --> [replete]>! :|:");
//System.out.println("food urge input");
}
+
+ //nar.addInput("<(&/,<{0} --> [on]>,+1,(^Right,{SELF}),+1) =/> <{SELF} --> [replete]>>.");
+ //nar.addInput("<(&/,<{2} --> [on]>,+1,(^Left,{SELF}),+1) =/> <{SELF} --> [replete]>>.");
+ //nar.addInput("<(&/,<{3} --> [on]>,+1,(^Right,{SELF}),+1) =/> <{SELF} --> [hurt]>>.");
+ //nar.addInput("<(&/,<{5} --> [on]>,+1,(^Left,{SELF}),+1) =/> <{SELF} --> [hurt]>>.");
+
+ boolean verbose = true;
+ if(k%4 == 0) {
+ //right
+ {
+ System.out.println("CORRECT:");
+ Sentence hypo_left_rep = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [replete]>",
+ "<(&/,<{0} --> [on]>,+1,(^Right,{SELF}),+1) =/> <{SELF} --> [replete]>>");
+ if(hypo_left_rep != null && verbose) {
+ System.out.println("HypLeftRep: " + hypo_left_rep.truth);
+ }
+
+ Sentence hypo_right_rep = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [replete]>",
+ "<(&/,<{2} --> [on]>,+12,(^Left,{SELF}),+13) =/> <{SELF} --> [replete]>>");
+ if(hypo_right_rep != null && verbose) {
+ System.out.println("HypRightRep: " + hypo_right_rep.truth);
+ }
+
+ Sentence hypo_left_heal = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [hurt]>",
+ "<(&/,<{3} --> [on]>,+1,(^Right,{SELF}),+1) =/> <{SELF} --> [hurt]>>");
+ if(hypo_left_heal != null && verbose) {
+ System.out.println("HypLeftHeal: " + hypo_left_heal.truth);
+ }
+
+ Sentence hypo_right_heal = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [hurt]>",
+ "<(&/,<{5} --> [on]>,+12,(^Left,{SELF}),+13) =/> <{SELF} --> [hurt]>>");
+ if(hypo_right_heal != null && verbose) {
+ System.out.println("HypRightHeal: " + hypo_right_heal.truth);
+ }
+ }
+ System.out.println("WRONG:");
+ //wrong action
+ {
+ Sentence hypo_left_rep = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [replete]>",
+ "<(&/,<{0} --> [on]>,+1,(^Left,{SELF}),+1) =/> <{SELF} --> [replete]>>");
+ if(hypo_left_rep != null && verbose) {
+ System.out.println("HypLeftRepWrongA: " + hypo_left_rep.truth);
+ }
+
+ Sentence hypo_right_rep = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [replete]>",
+ "<(&/,<{2} --> [on]>,+12,(^Right,{SELF}),+13) =/> <{SELF} --> [replete]>>");
+ if(hypo_right_rep != null && verbose) {
+ System.out.println("HypRightRepWrongA: " + hypo_right_rep.truth);
+ }
+
+ Sentence hypo_left_heal = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [hurt]>",
+ "<(&/,<{3} --> [on]>,+1,(^Left,{SELF}),+1) =/> <{SELF} --> [hurt]>>");
+ if(hypo_left_heal != null && verbose) {
+ System.out.println("HypLeftHealWrongA: " + hypo_left_heal.truth);
+ }
+
+ Sentence hypo_right_heal = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [hurt]>",
+ "<(&/,<{5} --> [on]>,+12,(^Right,{SELF}),+13) =/> <{SELF} --> [hurt]>>");
+ if(hypo_right_heal != null && verbose) {
+ System.out.println("HypRightHealWrongA: " + hypo_right_heal.truth);
+ }
+ }
+ //Wrong goal
+ {
+ Sentence hypo_left_rep = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [hurt]>",
+ "<(&/,<{0} --> [on]>,+1,(^Right,{SELF}),+1) =/> <{SELF} --> [hurt]>>");
+ if(hypo_left_rep != null && verbose) {
+ System.out.println("HypLeftRepWrongG: " + hypo_left_rep.truth);
+ }
+
+ Sentence hypo_right_rep = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [hurt]>",
+ "<(&/,<{2} --> [on]>,+12,(^Left,{SELF}),+13) =/> <{SELF} --> [hurt]>>");
+ if(hypo_right_rep != null && verbose) {
+ System.out.println("HypRightRepWrongG: " + hypo_right_rep.truth);
+ }
+
+ Sentence hypo_left_heal = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [replete]>",
+ "<(&/,<{3} --> [on]>,+1,(^Right,{SELF}),+1) =/> <{SELF} --> [replete]>>");
+ if(hypo_left_heal != null && verbose) {
+ System.out.println("HypLeftHealWrongG: " + hypo_left_heal.truth);
+ }
+
+ Sentence hypo_right_heal = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [replete]>",
+ "<(&/,<{5} --> [on]>,+12,(^Left,{SELF}),+13) =/> <{SELF} --> [replete]>>");
+ if(hypo_right_heal != null && verbose) {
+ System.out.println("HypRightHealWrongG: " + hypo_right_heal.truth);
+ }
+ }
+ //Wrong goal wrong action
+ {
+ Sentence hypo_left_rep = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [hurt]>",
+ "<(&/,<{0} --> [on]>,+1,(^Left,{SELF}),+1) =/> <{SELF} --> [hurt]>>");
+ if(hypo_left_rep != null && verbose) {
+ System.out.println("HypLeftRepWrongWrong: " + hypo_left_rep.truth);
+ }
+
+ Sentence hypo_right_rep = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [hurt]>",
+ "<(&/,<{2} --> [on]>,+12,(^Right,{SELF}),+13) =/> <{SELF} --> [hurt]>>");
+ if(hypo_right_rep != null && verbose) {
+ System.out.println("HypRightRepWrongWrong: " + hypo_right_rep.truth);
+ }
+
+ Sentence hypo_left_heal = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [replete]>",
+ "<(&/,<{3} --> [on]>,+1,(^Left,{SELF}),+1) =/> <{SELF} --> [replete]>>");
+ if(hypo_left_heal != null && verbose) {
+ System.out.println("HypLeftHealWrongWrong: " + hypo_left_heal.truth);
+ }
+
+ Sentence hypo_right_heal = ConceptMonitor.strongestPrecondition(nar, "<{SELF} --> [replete]>",
+ "<(&/,<{5} --> [on]>,+12,(^Right,{SELF}),+13) =/> <{SELF} --> [replete]>>");
+ if(hypo_right_heal != null && verbose) {
+ System.out.println("HypRightHealWrongWrong: " + hypo_right_heal.truth);
+ }
+ }
+ }
+
if(reward > 0) {
counterAteGood++;
System.out.println("good mr_nars");
@@ -343,24 +477,21 @@ public class SimNAR extends Frame {
if(reward < 0) {
counterAteBad++;
System.out.println("bad mr_nars");
- lasthealthy = k;
+ nar.addInput("<{SELF} --> [hurt]>. :|:");
//nar.addInput("(--,<{SELF} --> [good]>). :|:");
}
- if(k - lasthealthy > 200 && k%20 == 0) {
- nar.addInput("<{SELF} --> [healthy]>. :|:");
- System.err.println("I'm healthy "+String.valueOf(k));
- }
-
nar.cycles(10);
if(lastAction==0 && random(1.0f)<Alpha) { //if Nar hasn't decided chose a random action
lastAction = (int)random((float)nActions);
Concept left = null;
Concept right = null;
+ Concept forward = null;
try {
left = nar.memory.concept(new Narsese(nar).parseTerm("Left({SELF})")); //refine API in the future
right = nar.memory.concept(new Narsese(nar).parseTerm("Right({SELF})")); //innate motivation plugin
+ forward = nar.memory.concept(new Narsese(nar).parseTerm("Forward({SELF})")); //innate motivation plugin
} catch (Parser.InvalidInputException ex) { //with for instance battery level etc. and their state?
Logger.getLogger(Pong.class.getName()).log(Level.SEVERE, null, ex);
}
@@ -378,6 +509,9 @@ public class SimNAR extends Frame {
}
nar.addInput("Left({SELF}). :|:");
}
+ if(lastAction == 3) {
+ nar.addInput("Forward({SELF}). :|:");
+ }
}
return lastAction;
@@ -448,7 +582,7 @@ public class SimNAR extends Frame {
void hsim_ObjectTask(Obj oi)
{
- oi.v=0;
+ //oi.v=0;
if(oi.type==2)
{
if(random(1)>0.5)
@@ -486,23 +620,31 @@ public class SimNAR extends Frame {
{
action=0;
}*/
+ oi.v *= 0.9f;
+ if(action==3)
+ {
+ oi.v+=10.0f; //++
+ //oi.v=5.0f;
+ //mem.ProcessingInteract(oi.x,oi.y,1.0,10.0);
+ }
+ else
if(action==2)
{
- oi.a+=0.5f;
+ oi.a+=0.5f; //++
//oi.v=5.0f;
//mem.ProcessingInteract(oi.x,oi.y,1.0,10.0);
}
else
if(action==1)
{
- oi.a-=0.5f;
+ oi.a-=0.5f; //++
//oi.v=5.0f;
// mem.ProcessingInteract(oi.x,oi.y,1.0,10.0);
}
else
if(action==0)
{
- oi.v=10.0f;
+ //oi.v=10.0f;
// mem.ProcessingInteract(oi.x,oi.y,1.0,10.0);
}
if(oi.x>width)
@@ -681,7 +823,12 @@ fill(138,138,128);
float d=sqrt(dx*dx+dy*dy);
if(oi.type==0)
{
- float ati=atan2(dy,dx)+PI;
+ float ati=hamlib.RadAngleRange(atan2(dy,dx)+PI);
+
+ //if(d < viewdist) {
+ // System.out.println("objet: " + hamlib.RadAngleRange(ati));
+ // System.out.println("agent: " + oi.a);
+ // }
float diffi=hamlib.angleDiff(ati,oi.a);
float diffi2=hamlib.angleDiff(ati,oi.a-visarea);
float part=diffi/visarea;
@@ -703,8 +850,9 @@ fill(138,138,128);
float a=oi.a;
float cosa=cos(a);
float sina=sin(a);
- oi.x+=cosa*oi.v;
- oi.y+=sina*oi.v;
+ oi.x+=cosa*oi.v; //++
+ oi.y+=sina*oi.v; //++
+ //oi.a +=0.01; //++
oi.x+=oi.vx;
oi.y+=oi.vy;
@@ -757,7 +905,7 @@ fill(138,138,128);
Hsim_Custom(){}
}
- int nactions=3;
+ int nactions=4;
int worldSize=800;
PImage[] im=new PImage[10];
Gui label1;
@@ -1328,7 +1476,7 @@ fill(138,138,128);
boolean DrawField=false;
Hai hai=null;
Hsim_Custom custom=null;
- Obj(Hsim_Custom customobj,Hai haiobj,int X,int Y,float A,float V,float Vx,float Vy,float S,int Type,int Hsim_eyesize)
+ Obj(Hsim_Custom customobj,Hai haiobj, int X, int Y, float A, float V,float Vx, float Vy, float S, int Type, int Hsim_eyesize)
{
hai=haiobj;
custom=customobj;