Reinforcement_Learning.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Reinforcement Learning"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import tensorflow as tf\n",
    "import tensorflow.keras as keras\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "import os\n",
    "import gym"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Introduction to OpenAI gym"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "In this notebook we will be using OpenAI gym, a great toolkit for developing and comparing Reinforcement Learning algorithms. It provides many environments for your learning agents to interact with."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Let's list all the available environments:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "dict_values([EnvSpec(Copy-v0), EnvSpec(RepeatCopy-v0), EnvSpec(ReversedAddition-v0), EnvSpec(ReversedAddition3-v0), EnvSpec(DuplicatedInput-v0), EnvSpec(Reverse-v0), EnvSpec(CartPole-v0), EnvSpec(CartPole-v1), EnvSpec(MountainCar-v0), EnvSpec(MountainCarContinuous-v0), EnvSpec(Pendulum-v0), EnvSpec(Acrobot-v1), EnvSpec(LunarLander-v2), EnvSpec(LunarLanderContinuous-v2), EnvSpec(BipedalWalker-v3), EnvSpec(BipedalWalkerHardcore-v3), EnvSpec(CarRacing-v0), EnvSpec(Blackjack-v0), EnvSpec(KellyCoinflip-v0), EnvSpec(KellyCoinflipGeneralized-v0), EnvSpec(FrozenLake-v0), EnvSpec(FrozenLake8x8-v0), EnvSpec(CliffWalking-v0), EnvSpec(NChain-v0), EnvSpec(Roulette-v0), EnvSpec(Taxi-v3), EnvSpec(GuessingGame-v0), EnvSpec(HotterColder-v0), EnvSpec(Reacher-v2), EnvSpec(Pusher-v2), EnvSpec(Thrower-v2), EnvSpec(Striker-v2), EnvSpec(InvertedPendulum-v2), EnvSpec(InvertedDoublePendulum-v2), EnvSpec(HalfCheetah-v2), EnvSpec(HalfCheetah-v3), EnvSpec(Hopper-v2), EnvSpec(Hopper-v3), EnvSpec(Swimmer-v2), EnvSpec(Swimmer-v3), EnvSpec(Walker2d-v2), EnvSpec(Walker2d-v3), EnvSpec(Ant-v2), EnvSpec(Ant-v3), EnvSpec(Humanoid-v2), EnvSpec(Humanoid-v3), EnvSpec(HumanoidStandup-v2), EnvSpec(FetchSlide-v1), EnvSpec(FetchPickAndPlace-v1), EnvSpec(FetchReach-v1), EnvSpec(FetchPush-v1), EnvSpec(HandReach-v0), EnvSpec(HandManipulateBlockRotateZ-v0), EnvSpec(HandManipulateBlockRotateZTouchSensors-v0), EnvSpec(HandManipulateBlockRotateZTouchSensors-v1), EnvSpec(HandManipulateBlockRotateParallel-v0), EnvSpec(HandManipulateBlockRotateParallelTouchSensors-v0), EnvSpec(HandManipulateBlockRotateParallelTouchSensors-v1), EnvSpec(HandManipulateBlockRotateXYZ-v0), EnvSpec(HandManipulateBlockRotateXYZTouchSensors-v0), EnvSpec(HandManipulateBlockRotateXYZTouchSensors-v1), EnvSpec(HandManipulateBlockFull-v0), EnvSpec(HandManipulateBlock-v0), EnvSpec(HandManipulateBlockTouchSensors-v0), EnvSpec(HandManipulateBlockTouchSensors-v1), EnvSpec(HandManipulateEggRotate-v0), EnvSpec(HandManipulateEggRotateTouchSensors-v0), EnvSpec(HandManipulateEggRotateTouchSensors-v1), EnvSpec(HandManipulateEggFull-v0), EnvSpec(HandManipulateEgg-v0), EnvSpec(HandManipulateEggTouchSensors-v0), EnvSpec(HandManipulateEggTouchSensors-v1), EnvSpec(HandManipulatePenRotate-v0), EnvSpec(HandManipulatePenRotateTouchSensors-v0), EnvSpec(HandManipulatePenRotateTouchSensors-v1), EnvSpec(HandManipulatePenFull-v0), EnvSpec(HandManipulatePen-v0), EnvSpec(HandManipulatePenTouchSensors-v0), EnvSpec(HandManipulatePenTouchSensors-v1), EnvSpec(FetchSlideDense-v1), EnvSpec(FetchPickAndPlaceDense-v1), EnvSpec(FetchReachDense-v1), EnvSpec(FetchPushDense-v1), EnvSpec(HandReachDense-v0), EnvSpec(HandManipulateBlockRotateZDense-v0), EnvSpec(HandManipulateBlockRotateZTouchSensorsDense-v0), EnvSpec(HandManipulateBlockRotateZTouchSensorsDense-v1), EnvSpec(HandManipulateBlockRotateParallelDense-v0), EnvSpec(HandManipulateBlockRotateParallelTouchSensorsDense-v0), EnvSpec(HandManipulateBlockRotateParallelTouchSensorsDense-v1), EnvSpec(HandManipulateBlockRotateXYZDense-v0), EnvSpec(HandManipulateBlockRotateXYZTouchSensorsDense-v0), EnvSpec(HandManipulateBlockRotateXYZTouchSensorsDense-v1), EnvSpec(HandManipulateBlockFullDense-v0), EnvSpec(HandManipulateBlockDense-v0), EnvSpec(HandManipulateBlockTouchSensorsDense-v0), EnvSpec(HandManipulateBlockTouchSensorsDense-v1), EnvSpec(HandManipulateEggRotateDense-v0), EnvSpec(HandManipulateEggRotateTouchSensorsDense-v0), EnvSpec(HandManipulateEggRotateTouchSensorsDense-v1), EnvSpec(HandManipulateEggFullDense-v0), EnvSpec(HandManipulateEggDense-v0), EnvSpec(HandManipulateEggTouchSensorsDense-v0), EnvSpec(HandManipulateEggTouchSensorsDense-v1), EnvSpec(HandManipulatePenRotateDense-v0), EnvSpec(HandManipulatePenRotateTouchSensorsDense-v0), EnvSpec(HandManipulatePenRotateTouchSensorsDense-v1), EnvSpec(HandManipulatePenFullDense-v0), EnvSpec(HandManipulatePenDense-v0), EnvSpec(HandManipulatePenTouchSensorsDense-v0), EnvSpec(HandManipulatePenTouchSensorsDense-v1), EnvSpec(Adventure-v0), EnvSpec(Adventure-v4), EnvSpec(AdventureDeterministic-v0), EnvSpec(AdventureDeterministic-v4), EnvSpec(AdventureNoFrameskip-v0), EnvSpec(AdventureNoFrameskip-v4), EnvSpec(Adventure-ram-v0), EnvSpec(Adventure-ram-v4), EnvSpec(Adventure-ramDeterministic-v0), EnvSpec(Adventure-ramDeterministic-v4), EnvSpec(Adventure-ramNoFrameskip-v0), EnvSpec(Adventure-ramNoFrameskip-v4), EnvSpec(AirRaid-v0), EnvSpec(AirRaid-v4), EnvSpec(AirRaidDeterministic-v0), EnvSpec(AirRaidDeterministic-v4), EnvSpec(AirRaidNoFrameskip-v0), EnvSpec(AirRaidNoFrameskip-v4), EnvSpec(AirRaid-ram-v0), EnvSpec(AirRaid-ram-v4), EnvSpec(AirRaid-ramDeterministic-v0), EnvSpec(AirRaid-ramDeterministic-v4), EnvSpec(AirRaid-ramNoFrameskip-v0), EnvSpec(AirRaid-ramNoFrameskip-v4), EnvSpec(Alien-v0), EnvSpec(Alien-v4), EnvSpec(AlienDeterministic-v0), EnvSpec(AlienDeterministic-v4), EnvSpec(AlienNoFrameskip-v0), EnvSpec(AlienNoFrameskip-v4), EnvSpec(Alien-ram-v0), EnvSpec(Alien-ram-v4), EnvSpec(Alien-ramDeterministic-v0), EnvSpec(Alien-ramDeterministic-v4), EnvSpec(Alien-ramNoFrameskip-v0), EnvSpec(Alien-ramNoFrameskip-v4), EnvSpec(Amidar-v0), EnvSpec(Amidar-v4), EnvSpec(AmidarDeterministic-v0), EnvSpec(AmidarDeterministic-v4), EnvSpec(AmidarNoFrameskip-v0), EnvSpec(AmidarNoFrameskip-v4), EnvSpec(Amidar-ram-v0), EnvSpec(Amidar-ram-v4), EnvSpec(Amidar-ramDeterministic-v0), EnvSpec(Amidar-ramDeterministic-v4), EnvSpec(Amidar-ramNoFrameskip-v0), EnvSpec(Amidar-ramNoFrameskip-v4), EnvSpec(Assault-v0), EnvSpec(Assault-v4), EnvSpec(AssaultDeterministic-v0), EnvSpec(AssaultDeterministic-v4), EnvSpec(AssaultNoFrameskip-v0), EnvSpec(AssaultNoFrameskip-v4), EnvSpec(Assault-ram-v0), EnvSpec(Assault-ram-v4), EnvSpec(Assault-ramDeterministic-v0), EnvSpec(Assault-ramDeterministic-v4), EnvSpec(Assault-ramNoFrameskip-v0), EnvSpec(Assault-ramNoFrameskip-v4), EnvSpec(Asterix-v0), EnvSpec(Asterix-v4), EnvSpec(AsterixDeterministic-v0), EnvSpec(AsterixDeterministic-v4), EnvSpec(AsterixNoFrameskip-v0), EnvSpec(AsterixNoFrameskip-v4), EnvSpec(Asterix-ram-v0), EnvSpec(Asterix-ram-v4), EnvSpec(Asterix-ramDeterministic-v0), EnvSpec(Asterix-ramDeterministic-v4), EnvSpec(Asterix-ramNoFrameskip-v0), EnvSpec(Asterix-ramNoFrameskip-v4), EnvSpec(Asteroids-v0), EnvSpec(Asteroids-v4), EnvSpec(AsteroidsDeterministic-v0), EnvSpec(AsteroidsDeterministic-v4), EnvSpec(AsteroidsNoFrameskip-v0), EnvSpec(AsteroidsNoFrameskip-v4), EnvSpec(Asteroids-ram-v0), EnvSpec(Asteroids-ram-v4), EnvSpec(Asteroids-ramDeterministic-v0), EnvSpec(Asteroids-ramDeterministic-v4), EnvSpec(Asteroids-ramNoFrameskip-v0), EnvSpec(Asteroids-ramNoFrameskip-v4), EnvSpec(Atlantis-v0), EnvSpec(Atlantis-v4), EnvSpec(AtlantisDeterministic-v0), EnvSpec(AtlantisDeterministic-v4), EnvSpec(AtlantisNoFrameskip-v0), EnvSpec(AtlantisNoFrameskip-v4), EnvSpec(Atlantis-ram-v0), EnvSpec(Atlantis-ram-v4), EnvSpec(Atlantis-ramDeterministic-v0), EnvSpec(Atlantis-ramDeterministic-v4), EnvSpec(Atlantis-ramNoFrameskip-v0), EnvSpec(Atlantis-ramNoFrameskip-v4), EnvSpec(BankHeist-v0), EnvSpec(BankHeist-v4), EnvSpec(BankHeistDeterministic-v0), EnvSpec(BankHeistDeterministic-v4), EnvSpec(BankHeistNoFrameskip-v0), EnvSpec(BankHeistNoFrameskip-v4), EnvSpec(BankHeist-ram-v0), EnvSpec(BankHeist-ram-v4), EnvSpec(BankHeist-ramDeterministic-v0), EnvSpec(BankHeist-ramDeterministic-v4), EnvSpec(BankHeist-ramNoFrameskip-v0), EnvSpec(BankHeist-ramNoFrameskip-v4), EnvSpec(BattleZone-v0), EnvSpec(BattleZone-v4), EnvSpec(BattleZoneDeterministic-v0), EnvSpec(BattleZoneDeterministic-v4), EnvSpec(BattleZoneNoFrameskip-v0), EnvSpec(BattleZoneNoFrameskip-v4), EnvSpec(BattleZone-ram-v0), EnvSpec(BattleZone-ram-v4), EnvSpec(BattleZone-ramDeterministic-v0), EnvSpec(BattleZone-ramDeterministic-v4), EnvSpec(BattleZone-ramNoFrameskip-v0), EnvSpec(BattleZone-ramNoFrameskip-v4), EnvSpec(BeamRider-v0), EnvSpec(BeamRider-v4), EnvSpec(BeamRiderDeterministic-v0), EnvSpec(BeamRiderDeterministic-v4), EnvSpec(BeamRiderNoFrameskip-v0), EnvSpec(BeamRiderNoFrameskip-v4), EnvSpec(BeamRider-ram-v0), EnvSpec(BeamRider-ram-v4), EnvSpec(BeamRider-ramDeterministic-v0), EnvSpec(BeamRider-ramDeterministic-v4), EnvSpec(BeamRider-ramNoFrameskip-v0), EnvSpec(BeamRider-ramNoFrameskip-v4), EnvSpec(Berzerk-v0), EnvSpec(Berzerk-v4), EnvSpec(BerzerkDeterministic-v0), EnvSpec(BerzerkDeterministic-v4), EnvSpec(BerzerkNoFrameskip-v0), EnvSpec(BerzerkNoFrameskip-v4), EnvSpec(Berzerk-ram-v0), EnvSpec(Berzerk-ram-v4), EnvSpec(Berzerk-ramDeterministic-v0), EnvSpec(Berzerk-ramDeterministic-v4), EnvSpec(Berzerk-ramNoFrameskip-v0), EnvSpec(Berzerk-ramNoFrameskip-v4), EnvSpec(Bowling-v0), EnvSpec(Bowling-v4), EnvSpec(BowlingDeterministic-v0), EnvSpec(BowlingDeterministic-v4), EnvSpec(BowlingNoFrameskip-v0), EnvSpec(BowlingNoFrameskip-v4), EnvSpec(Bowling-ram-v0), EnvSpec(Bowling-ram-v4), EnvSpec(Bowling-ramDeterministic-v0), EnvSpec(Bowling-ramDeterministic-v4), EnvSpec(Bowling-ramNoFrameskip-v0), EnvSpec(Bowling-ramNoFrameskip-v4), EnvSpec(Boxing-v0), EnvSpec(Boxing-v4), EnvSpec(BoxingDeterministic-v0), EnvSpec(BoxingDeterministic-v4), EnvSpec(BoxingNoFrameskip-v0), EnvSpec(BoxingNoFrameskip-v4), EnvSpec(Boxing-ram-v0), EnvSpec(Boxing-ram-v4), EnvSpec(Boxing-ramDeterministic-v0), EnvSpec(Boxing-ramDeterministic-v4), EnvSpec(Boxing-ramNoFrameskip-v0), EnvSpec(Boxing-ramNoFrameskip-v4), EnvSpec(Breakout-v0), EnvSpec(Breakout-v4), EnvSpec(BreakoutDeterministic-v0), EnvSpec(BreakoutDeterministic-v4), EnvSpec(BreakoutNoFrameskip-v0), EnvSpec(BreakoutNoFrameskip-v4), EnvSpec(Breakout-ram-v0), EnvSpec(Breakout-ram-v4), EnvSpec(Breakout-ramDeterministic-v0), EnvSpec(Breakout-ramDeterministic-v4), EnvSpec(Breakout-ramNoFrameskip-v0), EnvSpec(Breakout-ramNoFrameskip-v4), EnvSpec(Carnival-v0), EnvSpec(Carnival-v4), EnvSpec(CarnivalDeterministic-v0), EnvSpec(CarnivalDeterministic-v4), EnvSpec(CarnivalNoFrameskip-v0), EnvSpec(CarnivalNoFrameskip-v4), EnvSpec(Carnival-ram-v0), EnvSpec(Carnival-ram-v4), EnvSpec(Carnival-ramDeterministic-v0), EnvSpec(Carnival-ramDeterministic-v4), EnvSpec(Carnival-ramNoFrameskip-v0), EnvSpec(Carnival-ramNoFrameskip-v4), EnvSpec(Centipede-v0), EnvSpec(Centipede-v4), EnvSpec(CentipedeDeterministic-v0), EnvSpec(CentipedeDeterministic-v4), EnvSpec(CentipedeNoFrameskip-v0), EnvSpec(CentipedeNoFrameskip-v4), EnvSpec(Centipede-ram-v0), EnvSpec(Centipede-ram-v4), EnvSpec(Centipede-ramDeterministic-v0), EnvSpec(Centipede-ramDeterministic-v4), EnvSpec(Centipede-ramNoFrameskip-v0), EnvSpec(Centipede-ramNoFrameskip-v4), EnvSpec(ChopperCommand-v0), EnvSpec(ChopperCommand-v4), EnvSpec(ChopperCommandDeterministic-v0), EnvSpec(ChopperCommandDeterministic-v4), EnvSpec(ChopperCommandNoFrameskip-v0), EnvSpec(ChopperCommandNoFrameskip-v4), EnvSpec(ChopperCommand-ram-v0), EnvSpec(ChopperCommand-ram-v4), EnvSpec(ChopperCommand-ramDeterministic-v0), EnvSpec(ChopperCommand-ramDeterministic-v4), EnvSpec(ChopperCommand-ramNoFrameskip-v0), EnvSpec(ChopperCommand-ramNoFrameskip-v4), EnvSpec(CrazyClimber-v0), EnvSpec(CrazyClimber-v4), EnvSpec(CrazyClimberDeterministic-v0), EnvSpec(CrazyClimberDeterministic-v4), EnvSpec(CrazyClimberNoFrameskip-v0), EnvSpec(CrazyClimberNoFrameskip-v4), EnvSpec(CrazyClimber-ram-v0), EnvSpec(CrazyClimber-ram-v4), EnvSpec(CrazyClimber-ramDeterministic-v0), EnvSpec(CrazyClimber-ramDeterministic-v4), EnvSpec(CrazyClimber-ramNoFrameskip-v0), EnvSpec(CrazyClimber-ramNoFrameskip-v4), EnvSpec(Defender-v0), EnvSpec(Defender-v4), EnvSpec(DefenderDeterministic-v0), EnvSpec(DefenderDeterministic-v4), EnvSpec(DefenderNoFrameskip-v0), EnvSpec(DefenderNoFrameskip-v4), EnvSpec(Defender-ram-v0), EnvSpec(Defender-ram-v4), EnvSpec(Defender-ramDeterministic-v0), EnvSpec(Defender-ramDeterministic-v4), EnvSpec(Defender-ramNoFrameskip-v0), EnvSpec(Defender-ramNoFrameskip-v4), EnvSpec(DemonAttack-v0), EnvSpec(DemonAttack-v4), EnvSpec(DemonAttackDeterministic-v0), EnvSpec(DemonAttackDeterministic-v4), EnvSpec(DemonAttackNoFrameskip-v0), EnvSpec(DemonAttackNoFrameskip-v4), EnvSpec(DemonAttack-ram-v0), EnvSpec(DemonAttack-ram-v4), EnvSpec(DemonAttack-ramDeterministic-v0), EnvSpec(DemonAttack-ramDeterministic-v4), EnvSpec(DemonAttack-ramNoFrameskip-v0), EnvSpec(DemonAttack-ramNoFrameskip-v4), EnvSpec(DoubleDunk-v0), EnvSpec(DoubleDunk-v4), EnvSpec(DoubleDunkDeterministic-v0), EnvSpec(DoubleDunkDeterministic-v4), EnvSpec(DoubleDunkNoFrameskip-v0), EnvSpec(DoubleDunkNoFrameskip-v4), EnvSpec(DoubleDunk-ram-v0), EnvSpec(DoubleDunk-ram-v4), EnvSpec(DoubleDunk-ramDeterministic-v0), EnvSpec(DoubleDunk-ramDeterministic-v4), EnvSpec(DoubleDunk-ramNoFrameskip-v0), EnvSpec(DoubleDunk-ramNoFrameskip-v4), EnvSpec(ElevatorAction-v0), EnvSpec(ElevatorAction-v4), EnvSpec(ElevatorActionDeterministic-v0), EnvSpec(ElevatorActionDeterministic-v4), EnvSpec(ElevatorActionNoFrameskip-v0), EnvSpec(ElevatorActionNoFrameskip-v4), EnvSpec(ElevatorAction-ram-v0), EnvSpec(ElevatorAction-ram-v4), EnvSpec(ElevatorAction-ramDeterministic-v0), EnvSpec(ElevatorAction-ramDeterministic-v4), EnvSpec(ElevatorAction-ramNoFrameskip-v0), EnvSpec(ElevatorAction-ramNoFrameskip-v4), EnvSpec(Enduro-v0), EnvSpec(Enduro-v4), EnvSpec(EnduroDeterministic-v0), EnvSpec(EnduroDeterministic-v4), EnvSpec(EnduroNoFrameskip-v0), EnvSpec(EnduroNoFrameskip-v4), EnvSpec(Enduro-ram-v0), EnvSpec(Enduro-ram-v4), EnvSpec(Enduro-ramDeterministic-v0), EnvSpec(Enduro-ramDeterministic-v4), EnvSpec(Enduro-ramNoFrameskip-v0), EnvSpec(Enduro-ramNoFrameskip-v4), EnvSpec(FishingDerby-v0), EnvSpec(FishingDerby-v4), EnvSpec(FishingDerbyDeterministic-v0), EnvSpec(FishingDerbyDeterministic-v4), EnvSpec(FishingDerbyNoFrameskip-v0), EnvSpec(FishingDerbyNoFrameskip-v4), EnvSpec(FishingDerby-ram-v0), EnvSpec(FishingDerby-ram-v4), EnvSpec(FishingDerby-ramDeterministic-v0), EnvSpec(FishingDerby-ramDeterministic-v4), EnvSpec(FishingDerby-ramNoFrameskip-v0), EnvSpec(FishingDerby-ramNoFrameskip-v4), EnvSpec(Freeway-v0), EnvSpec(Freeway-v4), EnvSpec(FreewayDeterministic-v0), EnvSpec(FreewayDeterministic-v4), EnvSpec(FreewayNoFrameskip-v0), EnvSpec(FreewayNoFrameskip-v4), EnvSpec(Freeway-ram-v0), EnvSpec(Freeway-ram-v4), EnvSpec(Freeway-ramDeterministic-v0), EnvSpec(Freeway-ramDeterministic-v4), EnvSpec(Freeway-ramNoFrameskip-v0), EnvSpec(Freeway-ramNoFrameskip-v4), EnvSpec(Frostbite-v0), EnvSpec(Frostbite-v4), EnvSpec(FrostbiteDeterministic-v0), EnvSpec(FrostbiteDeterministic-v4), EnvSpec(FrostbiteNoFrameskip-v0), EnvSpec(FrostbiteNoFrameskip-v4), EnvSpec(Frostbite-ram-v0), EnvSpec(Frostbite-ram-v4), EnvSpec(Frostbite-ramDeterministic-v0), EnvSpec(Frostbite-ramDeterministic-v4), EnvSpec(Frostbite-ramNoFrameskip-v0), EnvSpec(Frostbite-ramNoFrameskip-v4), EnvSpec(Gopher-v0), EnvSpec(Gopher-v4), EnvSpec(GopherDeterministic-v0), EnvSpec(GopherDeterministic-v4), EnvSpec(GopherNoFrameskip-v0), EnvSpec(GopherNoFrameskip-v4), EnvSpec(Gopher-ram-v0), EnvSpec(Gopher-ram-v4), EnvSpec(Gopher-ramDeterministic-v0), EnvSpec(Gopher-ramDeterministic-v4), EnvSpec(Gopher-ramNoFrameskip-v0), EnvSpec(Gopher-ramNoFrameskip-v4), EnvSpec(Gravitar-v0), EnvSpec(Gravitar-v4), EnvSpec(GravitarDeterministic-v0), EnvSpec(GravitarDeterministic-v4), EnvSpec(GravitarNoFrameskip-v0), EnvSpec(GravitarNoFrameskip-v4), EnvSpec(Gravitar-ram-v0), EnvSpec(Gravitar-ram-v4), EnvSpec(Gravitar-ramDeterministic-v0), EnvSpec(Gravitar-ramDeterministic-v4), EnvSpec(Gravitar-ramNoFrameskip-v0), EnvSpec(Gravitar-ramNoFrameskip-v4), EnvSpec(Hero-v0), EnvSpec(Hero-v4), EnvSpec(HeroDeterministic-v0), EnvSpec(HeroDeterministic-v4), EnvSpec(HeroNoFrameskip-v0), EnvSpec(HeroNoFrameskip-v4), EnvSpec(Hero-ram-v0), EnvSpec(Hero-ram-v4), EnvSpec(Hero-ramDeterministic-v0), EnvSpec(Hero-ramDeterministic-v4), EnvSpec(Hero-ramNoFrameskip-v0), EnvSpec(Hero-ramNoFrameskip-v4), EnvSpec(IceHockey-v0), EnvSpec(IceHockey-v4), EnvSpec(IceHockeyDeterministic-v0), EnvSpec(IceHockeyDeterministic-v4), EnvSpec(IceHockeyNoFrameskip-v0), EnvSpec(IceHockeyNoFrameskip-v4), EnvSpec(IceHockey-ram-v0), EnvSpec(IceHockey-ram-v4), EnvSpec(IceHockey-ramDeterministic-v0), EnvSpec(IceHockey-ramDeterministic-v4), EnvSpec(IceHockey-ramNoFrameskip-v0), EnvSpec(IceHockey-ramNoFrameskip-v4), EnvSpec(Jamesbond-v0), EnvSpec(Jamesbond-v4), EnvSpec(JamesbondDeterministic-v0), EnvSpec(JamesbondDeterministic-v4), EnvSpec(JamesbondNoFrameskip-v0), EnvSpec(JamesbondNoFrameskip-v4), EnvSpec(Jamesbond-ram-v0), EnvSpec(Jamesbond-ram-v4), EnvSpec(Jamesbond-ramDeterministic-v0), EnvSpec(Jamesbond-ramDeterministic-v4), EnvSpec(Jamesbond-ramNoFrameskip-v0), EnvSpec(Jamesbond-ramNoFrameskip-v4), EnvSpec(JourneyEscape-v0), EnvSpec(JourneyEscape-v4), EnvSpec(JourneyEscapeDeterministic-v0), EnvSpec(JourneyEscapeDeterministic-v4), EnvSpec(JourneyEscapeNoFrameskip-v0), EnvSpec(JourneyEscapeNoFrameskip-v4), EnvSpec(JourneyEscape-ram-v0), EnvSpec(JourneyEscape-ram-v4), EnvSpec(JourneyEscape-ramDeterministic-v0), EnvSpec(JourneyEscape-ramDeterministic-v4), EnvSpec(JourneyEscape-ramNoFrameskip-v0), EnvSpec(JourneyEscape-ramNoFrameskip-v4), EnvSpec(Kangaroo-v0), EnvSpec(Kangaroo-v4), EnvSpec(KangarooDeterministic-v0), EnvSpec(KangarooDeterministic-v4), EnvSpec(KangarooNoFrameskip-v0), EnvSpec(KangarooNoFrameskip-v4), EnvSpec(Kangaroo-ram-v0), EnvSpec(Kangaroo-ram-v4), EnvSpec(Kangaroo-ramDeterministic-v0), EnvSpec(Kangaroo-ramDeterministic-v4), EnvSpec(Kangaroo-ramNoFrameskip-v0), EnvSpec(Kangaroo-ramNoFrameskip-v4), EnvSpec(Krull-v0), EnvSpec(Krull-v4), EnvSpec(KrullDeterministic-v0), EnvSpec(KrullDeterministic-v4), EnvSpec(KrullNoFrameskip-v0), EnvSpec(KrullNoFrameskip-v4), EnvSpec(Krull-ram-v0), EnvSpec(Krull-ram-v4), EnvSpec(Krull-ramDeterministic-v0), EnvSpec(Krull-ramDeterministic-v4), EnvSpec(Krull-ramNoFrameskip-v0), EnvSpec(Krull-ramNoFrameskip-v4), EnvSpec(KungFuMaster-v0), EnvSpec(KungFuMaster-v4), EnvSpec(KungFuMasterDeterministic-v0), EnvSpec(KungFuMasterDeterministic-v4), EnvSpec(KungFuMasterNoFrameskip-v0), EnvSpec(KungFuMasterNoFrameskip-v4), EnvSpec(KungFuMaster-ram-v0), EnvSpec(KungFuMaster-ram-v4), EnvSpec(KungFuMaster-ramDeterministic-v0), EnvSpec(KungFuMaster-ramDeterministic-v4), EnvSpec(KungFuMaster-ramNoFrameskip-v0), EnvSpec(KungFuMaster-ramNoFrameskip-v4), EnvSpec(MontezumaRevenge-v0), EnvSpec(MontezumaRevenge-v4), EnvSpec(MontezumaRevengeDeterministic-v0), EnvSpec(MontezumaRevengeDeterministic-v4), EnvSpec(MontezumaRevengeNoFrameskip-v0), EnvSpec(MontezumaRevengeNoFrameskip-v4), EnvSpec(MontezumaRevenge-ram-v0), EnvSpec(MontezumaRevenge-ram-v4), EnvSpec(MontezumaRevenge-ramDeterministic-v0), EnvSpec(MontezumaRevenge-ramDeterministic-v4), EnvSpec(MontezumaRevenge-ramNoFrameskip-v0), EnvSpec(MontezumaRevenge-ramNoFrameskip-v4), EnvSpec(MsPacman-v0), EnvSpec(MsPacman-v4), EnvSpec(MsPacmanDeterministic-v0), EnvSpec(MsPacmanDeterministic-v4), EnvSpec(MsPacmanNoFrameskip-v0), EnvSpec(MsPacmanNoFrameskip-v4), EnvSpec(MsPacman-ram-v0), EnvSpec(MsPacman-ram-v4), EnvSpec(MsPacman-ramDeterministic-v0), EnvSpec(MsPacman-ramDeterministic-v4), EnvSpec(MsPacman-ramNoFrameskip-v0), EnvSpec(MsPacman-ramNoFrameskip-v4), EnvSpec(NameThisGame-v0), EnvSpec(NameThisGame-v4), EnvSpec(NameThisGameDeterministic-v0), EnvSpec(NameThisGameDeterministic-v4), EnvSpec(NameThisGameNoFrameskip-v0), EnvSpec(NameThisGameNoFrameskip-v4), EnvSpec(NameThisGame-ram-v0), EnvSpec(NameThisGame-ram-v4), EnvSpec(NameThisGame-ramDeterministic-v0), EnvSpec(NameThisGame-ramDeterministic-v4), EnvSpec(NameThisGame-ramNoFrameskip-v0), EnvSpec(NameThisGame-ramNoFrameskip-v4), EnvSpec(Phoenix-v0), EnvSpec(Phoenix-v4), EnvSpec(PhoenixDeterministic-v0), EnvSpec(PhoenixDeterministic-v4), EnvSpec(PhoenixNoFrameskip-v0), EnvSpec(PhoenixNoFrameskip-v4), EnvSpec(Phoenix-ram-v0), EnvSpec(Phoenix-ram-v4), EnvSpec(Phoenix-ramDeterministic-v0), EnvSpec(Phoenix-ramDeterministic-v4), EnvSpec(Phoenix-ramNoFrameskip-v0), EnvSpec(Phoenix-ramNoFrameskip-v4), EnvSpec(Pitfall-v0), EnvSpec(Pitfall-v4), EnvSpec(PitfallDeterministic-v0), EnvSpec(PitfallDeterministic-v4), EnvSpec(PitfallNoFrameskip-v0), EnvSpec(PitfallNoFrameskip-v4), EnvSpec(Pitfall-ram-v0), EnvSpec(Pitfall-ram-v4), EnvSpec(Pitfall-ramDeterministic-v0), EnvSpec(Pitfall-ramDeterministic-v4), EnvSpec(Pitfall-ramNoFrameskip-v0), EnvSpec(Pitfall-ramNoFrameskip-v4), EnvSpec(Pong-v0), EnvSpec(Pong-v4), EnvSpec(PongDeterministic-v0), EnvSpec(PongDeterministic-v4), EnvSpec(PongNoFrameskip-v0), EnvSpec(PongNoFrameskip-v4), EnvSpec(Pong-ram-v0), EnvSpec(Pong-ram-v4), EnvSpec(Pong-ramDeterministic-v0), EnvSpec(Pong-ramDeterministic-v4), EnvSpec(Pong-ramNoFrameskip-v0), EnvSpec(Pong-ramNoFrameskip-v4), EnvSpec(Pooyan-v0), EnvSpec(Pooyan-v4), EnvSpec(PooyanDeterministic-v0), EnvSpec(PooyanDeterministic-v4), EnvSpec(PooyanNoFrameskip-v0), EnvSpec(PooyanNoFrameskip-v4), EnvSpec(Pooyan-ram-v0), EnvSpec(Pooyan-ram-v4), EnvSpec(Pooyan-ramDeterministic-v0), EnvSpec(Pooyan-ramDeterministic-v4), EnvSpec(Pooyan-ramNoFrameskip-v0), EnvSpec(Pooyan-ramNoFrameskip-v4), EnvSpec(PrivateEye-v0), EnvSpec(PrivateEye-v4), EnvSpec(PrivateEyeDeterministic-v0), EnvSpec(PrivateEyeDeterministic-v4), EnvSpec(PrivateEyeNoFrameskip-v0), EnvSpec(PrivateEyeNoFrameskip-v4), EnvSpec(PrivateEye-ram-v0), EnvSpec(PrivateEye-ram-v4), EnvSpec(PrivateEye-ramDeterministic-v0), EnvSpec(PrivateEye-ramDeterministic-v4), EnvSpec(PrivateEye-ramNoFrameskip-v0), EnvSpec(PrivateEye-ramNoFrameskip-v4), EnvSpec(Qbert-v0), EnvSpec(Qbert-v4), EnvSpec(QbertDeterministic-v0), EnvSpec(QbertDeterministic-v4), EnvSpec(QbertNoFrameskip-v0), EnvSpec(QbertNoFrameskip-v4), EnvSpec(Qbert-ram-v0), EnvSpec(Qbert-ram-v4), EnvSpec(Qbert-ramDeterministic-v0), EnvSpec(Qbert-ramDeterministic-v4), EnvSpec(Qbert-ramNoFrameskip-v0), EnvSpec(Qbert-ramNoFrameskip-v4), EnvSpec(Riverraid-v0), EnvSpec(Riverraid-v4), EnvSpec(RiverraidDeterministic-v0), EnvSpec(RiverraidDeterministic-v4), EnvSpec(RiverraidNoFrameskip-v0), EnvSpec(RiverraidNoFrameskip-v4), EnvSpec(Riverraid-ram-v0), EnvSpec(Riverraid-ram-v4), EnvSpec(Riverraid-ramDeterministic-v0), EnvSpec(Riverraid-ramDeterministic-v4), EnvSpec(Riverraid-ramNoFrameskip-v0), EnvSpec(Riverraid-ramNoFrameskip-v4), EnvSpec(RoadRunner-v0), EnvSpec(RoadRunner-v4), EnvSpec(RoadRunnerDeterministic-v0), EnvSpec(RoadRunnerDeterministic-v4), EnvSpec(RoadRunnerNoFrameskip-v0), EnvSpec(RoadRunnerNoFrameskip-v4), EnvSpec(RoadRunner-ram-v0), EnvSpec(RoadRunner-ram-v4), EnvSpec(RoadRunner-ramDeterministic-v0), EnvSpec(RoadRunner-ramDeterministic-v4), EnvSpec(RoadRunner-ramNoFrameskip-v0), EnvSpec(RoadRunner-ramNoFrameskip-v4), EnvSpec(Robotank-v0), EnvSpec(Robotank-v4), EnvSpec(RobotankDeterministic-v0), EnvSpec(RobotankDeterministic-v4), EnvSpec(RobotankNoFrameskip-v0), EnvSpec(RobotankNoFrameskip-v4), EnvSpec(Robotank-ram-v0), EnvSpec(Robotank-ram-v4), EnvSpec(Robotank-ramDeterministic-v0), EnvSpec(Robotank-ramDeterministic-v4), EnvSpec(Robotank-ramNoFrameskip-v0), EnvSpec(Robotank-ramNoFrameskip-v4), EnvSpec(Seaquest-v0), EnvSpec(Seaquest-v4), EnvSpec(SeaquestDeterministic-v0), EnvSpec(SeaquestDeterministic-v4), EnvSpec(SeaquestNoFrameskip-v0), EnvSpec(SeaquestNoFrameskip-v4), EnvSpec(Seaquest-ram-v0), EnvSpec(Seaquest-ram-v4), EnvSpec(Seaquest-ramDeterministic-v0), EnvSpec(Seaquest-ramDeterministic-v4), EnvSpec(Seaquest-ramNoFrameskip-v0), EnvSpec(Seaquest-ramNoFrameskip-v4), EnvSpec(Skiing-v0), EnvSpec(Skiing-v4), EnvSpec(SkiingDeterministic-v0), EnvSpec(SkiingDeterministic-v4), EnvSpec(SkiingNoFrameskip-v0), EnvSpec(SkiingNoFrameskip-v4), EnvSpec(Skiing-ram-v0), EnvSpec(Skiing-ram-v4), EnvSpec(Skiing-ramDeterministic-v0), EnvSpec(Skiing-ramDeterministic-v4), EnvSpec(Skiing-ramNoFrameskip-v0), EnvSpec(Skiing-ramNoFrameskip-v4), EnvSpec(Solaris-v0), EnvSpec(Solaris-v4), EnvSpec(SolarisDeterministic-v0), EnvSpec(SolarisDeterministic-v4), EnvSpec(SolarisNoFrameskip-v0), EnvSpec(SolarisNoFrameskip-v4), EnvSpec(Solaris-ram-v0), EnvSpec(Solaris-ram-v4), EnvSpec(Solaris-ramDeterministic-v0), EnvSpec(Solaris-ramDeterministic-v4), EnvSpec(Solaris-ramNoFrameskip-v0), EnvSpec(Solaris-ramNoFrameskip-v4), EnvSpec(SpaceInvaders-v0), EnvSpec(SpaceInvaders-v4), EnvSpec(SpaceInvadersDeterministic-v0), EnvSpec(SpaceInvadersDeterministic-v4), EnvSpec(SpaceInvadersNoFrameskip-v0), EnvSpec(SpaceInvadersNoFrameskip-v4), EnvSpec(SpaceInvaders-ram-v0), EnvSpec(SpaceInvaders-ram-v4), EnvSpec(SpaceInvaders-ramDeterministic-v0), EnvSpec(SpaceInvaders-ramDeterministic-v4), EnvSpec(SpaceInvaders-ramNoFrameskip-v0), EnvSpec(SpaceInvaders-ramNoFrameskip-v4), EnvSpec(StarGunner-v0), EnvSpec(StarGunner-v4), EnvSpec(StarGunnerDeterministic-v0), EnvSpec(StarGunnerDeterministic-v4), EnvSpec(StarGunnerNoFrameskip-v0), EnvSpec(StarGunnerNoFrameskip-v4), EnvSpec(StarGunner-ram-v0), EnvSpec(StarGunner-ram-v4), EnvSpec(StarGunner-ramDeterministic-v0), EnvSpec(StarGunner-ramDeterministic-v4), EnvSpec(StarGunner-ramNoFrameskip-v0), EnvSpec(StarGunner-ramNoFrameskip-v4), EnvSpec(Tennis-v0), EnvSpec(Tennis-v4), EnvSpec(TennisDeterministic-v0), EnvSpec(TennisDeterministic-v4), EnvSpec(TennisNoFrameskip-v0), EnvSpec(TennisNoFrameskip-v4), EnvSpec(Tennis-ram-v0), EnvSpec(Tennis-ram-v4), EnvSpec(Tennis-ramDeterministic-v0), EnvSpec(Tennis-ramDeterministic-v4), EnvSpec(Tennis-ramNoFrameskip-v0), EnvSpec(Tennis-ramNoFrameskip-v4), EnvSpec(TimePilot-v0), EnvSpec(TimePilot-v4), EnvSpec(TimePilotDeterministic-v0), EnvSpec(TimePilotDeterministic-v4), EnvSpec(TimePilotNoFrameskip-v0), EnvSpec(TimePilotNoFrameskip-v4), EnvSpec(TimePilot-ram-v0), EnvSpec(TimePilot-ram-v4), EnvSpec(TimePilot-ramDeterministic-v0), EnvSpec(TimePilot-ramDeterministic-v4), EnvSpec(TimePilot-ramNoFrameskip-v0), EnvSpec(TimePilot-ramNoFrameskip-v4), EnvSpec(Tutankham-v0), EnvSpec(Tutankham-v4), EnvSpec(TutankhamDeterministic-v0), EnvSpec(TutankhamDeterministic-v4), EnvSpec(TutankhamNoFrameskip-v0), EnvSpec(TutankhamNoFrameskip-v4), EnvSpec(Tutankham-ram-v0), EnvSpec(Tutankham-ram-v4), EnvSpec(Tutankham-ramDeterministic-v0), EnvSpec(Tutankham-ramDeterministic-v4), EnvSpec(Tutankham-ramNoFrameskip-v0), EnvSpec(Tutankham-ramNoFrameskip-v4), EnvSpec(UpNDown-v0), EnvSpec(UpNDown-v4), EnvSpec(UpNDownDeterministic-v0), EnvSpec(UpNDownDeterministic-v4), EnvSpec(UpNDownNoFrameskip-v0), EnvSpec(UpNDownNoFrameskip-v4), EnvSpec(UpNDown-ram-v0), EnvSpec(UpNDown-ram-v4), EnvSpec(UpNDown-ramDeterministic-v0), EnvSpec(UpNDown-ramDeterministic-v4), EnvSpec(UpNDown-ramNoFrameskip-v0), EnvSpec(UpNDown-ramNoFrameskip-v4), EnvSpec(Venture-v0), EnvSpec(Venture-v4), EnvSpec(VentureDeterministic-v0), EnvSpec(VentureDeterministic-v4), EnvSpec(VentureNoFrameskip-v0), EnvSpec(VentureNoFrameskip-v4), EnvSpec(Venture-ram-v0), EnvSpec(Venture-ram-v4), EnvSpec(Venture-ramDeterministic-v0), EnvSpec(Venture-ramDeterministic-v4), EnvSpec(Venture-ramNoFrameskip-v0), EnvSpec(Venture-ramNoFrameskip-v4), EnvSpec(VideoPinball-v0), EnvSpec(VideoPinball-v4), EnvSpec(VideoPinballDeterministic-v0), EnvSpec(VideoPinballDeterministic-v4), EnvSpec(VideoPinballNoFrameskip-v0), EnvSpec(VideoPinballNoFrameskip-v4), EnvSpec(VideoPinball-ram-v0), EnvSpec(VideoPinball-ram-v4), EnvSpec(VideoPinball-ramDeterministic-v0), EnvSpec(VideoPinball-ramDeterministic-v4), EnvSpec(VideoPinball-ramNoFrameskip-v0), EnvSpec(VideoPinball-ramNoFrameskip-v4), EnvSpec(WizardOfWor-v0), EnvSpec(WizardOfWor-v4), EnvSpec(WizardOfWorDeterministic-v0), EnvSpec(WizardOfWorDeterministic-v4), EnvSpec(WizardOfWorNoFrameskip-v0), EnvSpec(WizardOfWorNoFrameskip-v4), EnvSpec(WizardOfWor-ram-v0), EnvSpec(WizardOfWor-ram-v4), EnvSpec(WizardOfWor-ramDeterministic-v0), EnvSpec(WizardOfWor-ramDeterministic-v4), EnvSpec(WizardOfWor-ramNoFrameskip-v0), EnvSpec(WizardOfWor-ramNoFrameskip-v4), EnvSpec(YarsRevenge-v0), EnvSpec(YarsRevenge-v4), EnvSpec(YarsRevengeDeterministic-v0), EnvSpec(YarsRevengeDeterministic-v4), EnvSpec(YarsRevengeNoFrameskip-v0), EnvSpec(YarsRevengeNoFrameskip-v4), EnvSpec(YarsRevenge-ram-v0), EnvSpec(YarsRevenge-ram-v4), EnvSpec(YarsRevenge-ramDeterministic-v0), EnvSpec(YarsRevenge-ramDeterministic-v4), EnvSpec(YarsRevenge-ramNoFrameskip-v0), EnvSpec(YarsRevenge-ramNoFrameskip-v4), EnvSpec(Zaxxon-v0), EnvSpec(Zaxxon-v4), EnvSpec(ZaxxonDeterministic-v0), EnvSpec(ZaxxonDeterministic-v4), EnvSpec(ZaxxonNoFrameskip-v0), EnvSpec(ZaxxonNoFrameskip-v4), EnvSpec(Zaxxon-ram-v0), EnvSpec(Zaxxon-ram-v4), EnvSpec(Zaxxon-ramDeterministic-v0), EnvSpec(Zaxxon-ramDeterministic-v4), EnvSpec(Zaxxon-ramNoFrameskip-v0), EnvSpec(Zaxxon-ramNoFrameskip-v4), EnvSpec(CubeCrash-v0), EnvSpec(CubeCrashSparse-v0), EnvSpec(CubeCrashScreenBecomesBlack-v0), EnvSpec(MemorizeDigits-v0)])"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "gym.envs.registry.all()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The Cart-Pole is a very simple environment composed of a cart that can move left or right, and pole placed vertically on top of it. The agent must move the cart left or right to keep the pole upright."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "env = gym.make('CartPole-v1')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Let's initialize the environment by calling is reset() method. This returns an observation:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "obs = env.reset()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([-0.02651217, -0.03500301,  0.0030672 ,  0.00831521])"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "obs"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "env.render()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(400, 600, 3)"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "img = env.render(mode=\"rgb_array\")\n",
    "img.shape"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "def plot_environment(env, figsize=(5,4)):\n",
    "    plt.figure(figsize=figsize)\n",
    "    img = env.render(mode=\"rgb_array\")\n",
    "    plt.imshow(img)\n",
    "    plt.axis(\"off\")\n",
    "    return img"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAASUAAADICAYAAACuyvefAAAABHNCSVQICAgIfAhkiAAAAAlwSFlzAAALEgAACxIB0t1+/AAAADh0RVh0U29mdHdhcmUAbWF0cGxvdGxpYiB2ZXJzaW9uMy4yLjIsIGh0dHA6Ly9tYXRwbG90bGliLm9yZy+WH4yJAAAEjElEQVR4nO3cz0tldRzH4c9xjuNEjtpEjUELpYl2UQS1aCtI23b+By5b9CcErmvlvl1bYRBXEuTWTTGE1MKxkkqjiJm0e70tCgrC43BT71t7nuX9nvvlszi87rnn/mgGg0EBpBgb9QAA/yRKQBRRAqKIEhBFlIAoogREac9Y930B4CI0py24UgKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVHaUQ/A1XTS71X/6FFVVbW3JqsZ8/rG+RAlhvL44GHt3P+oqmlqZu61ujF+q2bmX6/bL7w86tG44kSJoQxO+tU//vNK6eDLz6qqamLqOVHiP3PNDUQRJSCKKAFRRAmIIkpAFFECoogSEEWUgCiiBEQRJSCKKAFRRAmIIkpAFFECoogSEEWUgCiiBEQRJSCKKAFRRAmIIkpAFFECoogSEEWUgCiiBEQRJSCKKAFRRAmIIkpAFFECoogSEEWUgCiiBEQRJSCKKAFRRAmIIkpAFFECoogSEEWUgCiiBEQRJSCKKAFRRAmIIkpAFFECoogSEEWUgCiiBEQRJSBKMxgMutY7F7meNjc3a2trq/OYmfao3pzer6b5+7EHv96p3d9udz5vfn6+lpaWzmNMrrbmtIX2MqfgatjY2KiVlZXOY1596W698f67ddx/qqqqxseOa21trT7Z/KLzeQsLC6JEJ1FiKP2Ttj7/+e365vG9qqq6c3O/+oNPRzwV14F7Sgzll96ztfvolTqptk6qrcPj2frh6MVRj8U1IEqck6YGp98mgCcmSgxl8sZB3R1/UL3eUTXVq2du7tfzEw9HPRbXgHtKDOWrvf364MP36vfBZL3z1r366elBff3t96Mei2ugM0qrq6uXNQdBtre3zzzmuNev7348rKrD+vj+7hPvvbe357yilpeXT13rjJKPbv+fdnZ2an19/UL2np2ddV7RqTNK09PTlzUHQSYmJi5s77ZtnVd0cqMbiCJKQBRRAqKIEhDF95T4l8XFxZqamrqQvefm5i5kX64Pf10CjMKpv0ny9g2IIkpAFFECoogSEEWUgCiiBEQRJSCKKAFRRAmIIkpAFFECoogSEEWUgCiiBEQRJSCKKAFRRAmIIkpAFFECoogSEEWUgCiiBEQRJSCKKAFRRAmIIkpAFFECoogSEEWUgCiiBEQRJSCKKAFRRAmIIkpAFFECoogSEEWUgCiiBERpz1hvLmUKgL+4UgKiiBIQRZSAKKIERBElIIooAVH+AC8SgK5pUhJlAAAAAElFTkSuQmCC\n",
      "text/plain": [
       "<Figure size 360x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plot_environment(env)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Let’s ask the environment what actions are possible:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "Discrete(2)"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "env.action_space"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [],
   "source": [
    "action = 0  # accelerate left"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "obs, reward, done, info = env.step(action)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([-0.02721223, -0.23016881,  0.0032335 ,  0.30196429])"
      ]
     },
     "execution_count": 13,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "obs"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "1.0"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "reward"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "False"
      ]
     },
     "execution_count": 15,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "done"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "{}"
      ]
     },
     "execution_count": 16,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "info"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "iVBORw0KGgoAAAANSUhEUgAAASUAAADICAYAAACuyvefAAAABHNCSVQICAgIfAhkiAAAAAlwSFlzAAALEgAACxIB0t1+/AAAADh0RVh0U29mdHdhcmUAbWF0cGxvdGxpYiB2ZXJzaW9uMy4yLjIsIGh0dHA6Ly9tYXRwbG90bGliLm9yZy+WH4yJAAAEiUlEQVR4nO3cMU9dZRzH8f+Bi7QpBVI1xQ1ijZvRmOjgSkJc3XgHjA6+BBNmndjdXEkawkRMZGXRNIbogKjESE1N0xZ6L8fBJpoYDs21cH/g5zPe59wn/+Hkyznn3kvTtm0BpBgb9QAA/yRKQBRRAqKIEhBFlIAoogRE6Z2x7vsCwHloTltwpQREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqL0Rj0Al9PJoF+Do0dVVdW7NlXNmL9vvBiixFAeH/5Yu3c/r2qamp1/u8YnrtXswjt187U3Rj0al5woMZT2ZFCD47+ulA6/+7qqqianXxUl/jPX3EAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiiBIQRZSAKKIERBElIIooAVFECYgiSkAUUQKiNG3bdq13LnI1bW1t1fb2ducxs72jem/moJrm79fuPbxVe09udr5vYWGhlpeXX8SYXG7NaQu9i5yCy2Fzc7NWV1c7j3nr9dv17icf1fHgelVVTYwd1/r6en259W3n+xYXF0WJTqLEUAYnvfrmwQf10+M7VVV166WDGrRfjXgqrgJRYih/9F+uvUdvVvPs/u3B01fqycmNEU/FVeBBNy9M2576mACemygxlKnxw7o9ca/6/aNqql/TE4d1ffzhqMfiCnD7xlC+3z+oTz/7uJ62U/Xh+3fq9xtt/fDzr6MeiyugM0pra2sXNQdBdnZ2zjzmuD+oX367X1X364u7e8+99/7+vvOKWllZOXWtM0o+uv1/2t3drY2NjXPZe25uznlFp84ozczMXNQcBJmcnDy3vXu9nvOKTh50A1FECYgiSkAUUQKi+J4S/7K0tFTT09Pnsvf8/Py57MvV4V+XAKNw6m+S3L4BUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAoogREESUgiigBUUQJiCJKQBRRAqKIEhBFlIAovTPWmwuZAuAZV0pAFFECoogSEEWUgCiiBEQRJSDKnwyFf692OVEdAAAAAElFTkSuQmCC\n",
      "text/plain": [
       "<Figure size 360x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plot_environment(env)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## A simple hard-coded policy"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [],
   "source": [
    "def basic_policy(obs):\n",
    "    angle = obs[2]\n",
    "    return 0 if angle < 0 else 1\n",
    "\n",
    "totals = []\n",
    "for episode in range(500):\n",
    "    episode_rewards = 0\n",
    "    obs = env.reset()\n",
    "    for step in range(200):\n",
    "        action = basic_policy(obs)\n",
    "        obs, reward, done, info = env.step(action)\n",
    "        episode_rewards += reward\n",
    "        if done:\n",
    "            break\n",
    "    totals.append(episode_rewards)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(42.244, 9.00891025596326, 24.0, 68.0)"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "np.mean(totals), np.std(totals), np.min(totals), np.max(totals)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [],
   "source": [
    "env.seed(42)\n",
    "\n",
    "frames = []\n",
    "\n",
    "obs = env.reset()\n",
    "for step in range(200):\n",
    "    img = env.render(mode=\"rgb_array\")\n",
    "    frames.append(img)\n",
    "    action = basic_policy(obs)\n",
    "\n",
    "    obs, reward, done, info = env.step(action)\n",
    "    if done:\n",
    "        break"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "metadata": {},
   "outputs": [],
   "source": [
    "import matplotlib.animation as animation\n",
    "import matplotlib as mpl\n",
    "mpl.rc('animation', html='jshtml')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [],
   "source": [
    "def update_scene(num, frames, patch):\n",
    "    patch.set_data(frames[num])\n",
    "    return patch,\n",
    "\n",
    "def plot_animation(frames, repeat=False, interval=40):\n",
    "    fig = plt.figure()\n",
    "    patch = plt.imshow(frames[0])\n",
    "    plt.axis('off')\n",
    "    anim = animation.FuncAnimation(\n",
    "        fig, update_scene, fargs=(frames, patch),\n",
    "        frames=len(frames), repeat=repeat, interval=interval)\n",
    "    plt.close()\n",
    "    return anim"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [
    {
     "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",
       "  function isInternetExplorer() {\n",
       "    ua = navigator.userAgent;\n",
       "    /* MSIE used to detect old browsers and Trident used to newer ones*/\n",
       "    return ua.indexOf(\"MSIE \") > -1 || ua.indexOf(\"Trident/\") > -1;\n",
       "  }\n",
       "\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",
       "    var slider = document.getElementById(this.slider_id);\n",
       "    slider.max = this.frames.length - 1;\n",
       "    if (isInternetExplorer()) {\n",
       "        // switch from oninput to onchange because IE <= 11 does not conform\n",
       "        // with W3C specification. It ignores oninput and onchange behaves\n",
       "        // like oninput. In contrast, Mircosoft Edge behaves correctly.\n",
       "        slider.setAttribute('onchange', slider.getAttribute('oninput'));\n",
       "        slider.setAttribute('oninput', null);\n",
       "    }\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",
       "<style>\n",
       ".animation {\n",
       "    display: inline-block;\n",
       "    text-align: center;\n",
       "}\n",
       "input[type=range].anim-slider {\n",
       "    width: 374px;\n",
       "    margin-left: auto;\n",
       "    margin-right: auto;\n",
       "}\n",
       ".anim-buttons {\n",
       "    margin: 8px 0px;\n",
       "}\n",
       ".anim-buttons button {\n",
       "    padding: 0;\n",
       "    width: 36px;\n",
       "}\n",
       ".anim-state label {\n",
       "    margin-right: 8px;\n",
       "}\n",
       ".anim-state input {\n",
       "    margin: 0;\n",
       "    vertical-align: middle;\n",
       "}\n",
       "</style>\n",
       "\n",
       "<div class=\"animation\">\n",
       "  <img id=\"_anim_img6dcd95a9e0d546f399a61a6cf1bdc39e\">\n",
       "  <div class=\"anim-controls\">\n",
       "    <input id=\"_anim_slider6dcd95a9e0d546f399a61a6cf1bdc39e\" type=\"range\" class=\"anim-slider\"\n",
       "           name=\"points\" min=\"0\" max=\"1\" step=\"1\" value=\"0\"\n",
       "           oninput=\"anim6dcd95a9e0d546f399a61a6cf1bdc39e.set_frame(parseInt(this.value));\"></input>\n",
       "    <div class=\"anim-buttons\">\n",
       "      <button onclick=\"anim6dcd95a9e0d546f399a61a6cf1bdc39e.slower()\"><i class=\"fa fa-minus\"></i></button>\n",
       "      <button onclick=\"anim6dcd95a9e0d546f399a61a6cf1bdc39e.first_frame()\"><i class=\"fa fa-fast-backward\">\n",
       "          </i></button>\n",
       "      <button onclick=\"anim6dcd95a9e0d546f399a61a6cf1bdc39e.previous_frame()\">\n",
       "          <i class=\"fa fa-step-backward\"></i></button>\n",
       "      <button onclick=\"anim6dcd95a9e0d546f399a61a6cf1bdc39e.reverse_animation()\">\n",
       "          <i class=\"fa fa-play fa-flip-horizontal\"></i></button>\n",
       "      <button onclick=\"anim6dcd95a9e0d546f399a61a6cf1bdc39e.pause_animation()\"><i class=\"fa fa-pause\">\n",
       "          </i></button>\n",
       "      <button onclick=\"anim6dcd95a9e0d546f399a61a6cf1bdc39e.play_animation()\"><i class=\"fa fa-play\"></i>\n",
       "          </button>\n",
       "      <button onclick=\"anim6dcd95a9e0d546f399a61a6cf1bdc39e.next_frame()\"><i class=\"fa fa-step-forward\">\n",
       "          </i></button>\n",
       "      <button onclick=\"anim6dcd95a9e0d546f399a61a6cf1bdc39e.last_frame()\"><i class=\"fa fa-fast-forward\">\n",
       "          </i></button>\n",
       "      <button onclick=\"anim6dcd95a9e0d546f399a61a6cf1bdc39e.faster()\"><i class=\"fa fa-plus\"></i></button>\n",
       "    </div>\n",
       "    <form action=\"#n\" name=\"_anim_loop_select6dcd95a9e0d546f399a61a6cf1bdc39e\" class=\"anim-state\">\n",
       "      <input type=\"radio\" name=\"state\" value=\"once\" id=\"_anim_radio1_6dcd95a9e0d546f399a61a6cf1bdc39e\"\n",
       "             checked>\n",
       "      <label for=\"_anim_radio1_6dcd95a9e0d546f399a61a6cf1bdc39e\">Once</label>\n",
       "      <input type=\"radio\" name=\"state\" value=\"loop\" id=\"_anim_radio2_6dcd95a9e0d546f399a61a6cf1bdc39e\"\n",
       "             >\n",
       "      <label for=\"_anim_radio2_6dcd95a9e0d546f399a61a6cf1bdc39e\">Loop</label>\n",
       "      <input type=\"radio\" name=\"state\" value=\"reflect\" id=\"_anim_radio3_6dcd95a9e0d546f399a61a6cf1bdc39e\"\n",
       "             >\n",
       "      <label for=\"_anim_radio3_6dcd95a9e0d546f399a61a6cf1bdc39e\">Reflect</label>\n",
       "    </form>\n",
       "  </div>\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_img6dcd95a9e0d546f399a61a6cf1bdc39e\";\n",
       "    var slider_id = \"_anim_slider6dcd95a9e0d546f399a61a6cf1bdc39e\";\n",
       "    var loop_select_id = \"_anim_loop_select6dcd95a9e0d546f399a61a6cf1bdc39e\";\n",
       "    var frames = new Array(55);\n",
       "    \n",
       "  frames[0] = \"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAbAAAAEgCAYAAADVKCZpAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\\\n",
       "AAALEgAACxIB0t1+/AAAADh0RVh0U29mdHdhcmUAbWF0cGxvdGxpYiB2ZXJzaW9uMy4yLjIsIGh0\\\n",
       "dHA6Ly9tYXRwbG90bGliLm9yZy+WH4yJAAAHFUlEQVR4nO3cS2tcdRzG8d8kaZK2YxPHkI4Uq2AV\\\n",
       "QUVx5UI3rkS66N6Fr6LQdyDYdaHvwU3WiisvFLX1AoLxAhY1TaUNvcS2SdMcF4pQsrCJ5hyfyeez\\\n",
       "mz8zOQ+E8J1JZtJrmqYpAAgz1vUAANgJAQMgkoABEEnAAIgkYABEEjAAIgkYAJEEDIBIAgZAJAED\\\n",
       "IJKAARBJwACIJGAARBIwACIJGACRBAyASAIGQCQBAyCSgAEQScAAiCRgAEQSMAAiCRgAkQQMgEgC\\\n",
       "BkAkAQMgkoABEEnAAIgkYABEEjAAIgkYAJEEDIBIAgZAJAEDIJKAARBJwACIJGAARBIwACIJGACR\\\n",
       "BAyASAIGQCQBAyCSgAEQScAAiCRgAEQSMAAiCRgAkQQMgEgCBkAkAQMgkoABEEnAAIgkYABEEjAA\\\n",
       "IgkYAJEEDIBIAgZAJAEDIJKAARBJwACIJGAARBIwACIJGACRBAyASAIGQCQBAyCSgAEQScAAiCRg\\\n",
       "AEQSMAAiCRgAkQQMgEgCBkAkAQMgkoABEEnAAIgkYABEEjAAIgkYAJEEDIBIAgZAJAEDIJKAARBJ\\\n",
       "wACIJGAARBIwACIJGACRBAyASAIGQCQBAyCSgAEQScAAiCRgAEQSMAAiCRgAkQQMgEgCBkAkAQMg\\\n",
       "koABEEnAAIgkYABEEjAAIgkYAJEEDIBIAgZAJAEDIJKAARBJwACIJGAARBIwACIJGACRBAyASAIG\\\n",
       "QCQBAyCSgAEQScAAiCRgAEQSMAAiCRgAkQQMgEgCBkAkAQMgkoABEEnAAIgkYABEEjAAIgkYtOjO\\\n",
       "teW6ufRdbd7b6HoKxJvoegDsJZe/fr+uLH5c/eFTNTb+54/fZH9QR199s3o9zydhOwQM2tY0tXrp\\\n",
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       "\"\n",
       "  frames[54] = \"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAbAAAAEgCAYAAADVKCZpAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\\\n",
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       "GAApCRgAKQkYACkJGAApCRgAKQkYACkJGAApCRgAKQkYACkJGAApCRgAKQkYACkJGAApCRgAKQkY\\\n",
       "ACkJGAApCRgAKQkYACkJGAApCRgAKQkYACkJGAApCRgAKQkYACkJGAApCRgAKQkYACkJGAApCRgA\\\n",
       "KQkYACkJGAApCRgAKf0bSPaeafHvN9UAAAAASUVORK5CYII=\\\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",
       "        anim6dcd95a9e0d546f399a61a6cf1bdc39e = new Animation(frames, img_id, slider_id, 40.0,\n",
       "                                 loop_select_id);\n",
       "    }, 0);\n",
       "  })()\n",
       "</script>\n"
      ],
      "text/plain": [
       "<matplotlib.animation.FuncAnimation at 0x7fa881b1d940>"
      ]
     },
     "execution_count": 23,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "plot_animation(frames)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Neural Network Policies"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "\n",
    "\n",
    "Let's create a neural network that will take observations as inputs, and output the action to take for each observation. To choose an action, the network will estimate a probability for each action, then we will select an action randomly according to the estimated probabilities. In the case of the Cart-Pole environment, there are just two possible actions (left or right), so we only need one output neuron: it will output the probability p of the action 0 (left), and of course the probability of action 1 (right) will be 1 - p.\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 25,
   "metadata": {},
   "outputs": [],
   "source": [
    "n_inputs = 4 \n",
    "\n",
    "model = keras.models.Sequential([\n",
    "    keras.layers.Dense(5, activation = 'elu', input_shape = [n_inputs]),\n",
    "    keras.layers.Dense(1, activation = 'sigmoid')\n",
    "])"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "\n",
    "\n",
    "In this particular environment, the past actions and observations can safely be ignored, since each observation contains the environment's full state. If there were some hidden state then you may need to consider past actions and observations in order to try to infer the hidden state of the environment. For example, if the environment only revealed the position of the cart but not its velocity, you would have to consider not only the current observation but also the previous observation in order to estimate the current velocity. Another example is if the observations are noisy: you may want to use the past few observations to estimate the most likely current state. Our problem is thus as simple as can be: the current observation is noise-free and contains the environment's full state.\n",
    "\n",
    "You may wonder why we plan to pick a random action based on the probability given by the policy network, rather than just picking the action with the highest probability. This approach lets the agent find the right balance between exploring new actions and exploiting the actions that are known to work well. Here's an analogy: suppose you go to a restaurant for the first time, and all the dishes look equally appealing so you randomly pick one. If it turns out to be good, you can increase the probability to order it next time, but you shouldn't increase that probability to 100%, or else you will never try out the other dishes, some of which may be even better than the one you tried.\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "metadata": {},
   "outputs": [],
   "source": [
    "def render_policy_net(model, n_max_steps=200, seed=42):\n",
    "    frames = []\n",
    "    env = gym.make(\"CartPole-v1\")\n",
    "    env.seed(seed)\n",
    "    np.random.seed(seed)\n",
    "    obs = env.reset()\n",
    "    for step in range(n_max_steps):\n",
    "        frames.append(env.render(mode=\"rgb_array\"))\n",
    "        left_proba = model.predict(obs.reshape(1, -1))\n",
    "        action = int(np.random.rand() > left_proba)\n",
    "        obs, reward, done, info = env.step(action)\n",
    "        if done:\n",
    "            break\n",
    "    env.close()\n",
    "    return frames"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [
    {
     "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",
       "  function isInternetExplorer() {\n",
       "    ua = navigator.userAgent;\n",
       "    /* MSIE used to detect old browsers and Trident used to newer ones*/\n",
       "    return ua.indexOf(\"MSIE \") > -1 || ua.indexOf(\"Trident/\") > -1;\n",
       "  }\n",
       "\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",
       "    var slider = document.getElementById(this.slider_id);\n",
       "    slider.max = this.frames.length - 1;\n",
       "    if (isInternetExplorer()) {\n",
       "        // switch from oninput to onchange because IE <= 11 does not conform\n",
       "        // with W3C specification. It ignores oninput and onchange behaves\n",
       "        // like oninput. In contrast, Mircosoft Edge behaves correctly.\n",
       "        slider.setAttribute('onchange', slider.getAttribute('oninput'));\n",
       "        slider.setAttribute('oninput', null);\n",
       "    }\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",
       "<style>\n",
       ".animation {\n",
       "    display: inline-block;\n",
       "    text-align: center;\n",
       "}\n",
       "input[type=range].anim-slider {\n",
       "    width: 374px;\n",
       "    margin-left: auto;\n",
       "    margin-right: auto;\n",
       "}\n",
       ".anim-buttons {\n",
       "    margin: 8px 0px;\n",
       "}\n",
       ".anim-buttons button {\n",
       "    padding: 0;\n",
       "    width: 36px;\n",
       "}\n",
       ".anim-state label {\n",
       "    margin-right: 8px;\n",
       "}\n",
       ".anim-state input {\n",
       "    margin: 0;\n",
       "    vertical-align: middle;\n",
       "}\n",
       "</style>\n",
       "\n",
       "<div class=\"animation\">\n",
       "  <img id=\"_anim_img28ca5c7fefc54d7f8302e44e64f770ea\">\n",
       "  <div class=\"anim-controls\">\n",
       "    <input id=\"_anim_slider28ca5c7fefc54d7f8302e44e64f770ea\" type=\"range\" class=\"anim-slider\"\n",
       "           name=\"points\" min=\"0\" max=\"1\" step=\"1\" value=\"0\"\n",
       "           oninput=\"anim28ca5c7fefc54d7f8302e44e64f770ea.set_frame(parseInt(this.value));\"></input>\n",
       "    <div class=\"anim-buttons\">\n",
       "      <button onclick=\"anim28ca5c7fefc54d7f8302e44e64f770ea.slower()\"><i class=\"fa fa-minus\"></i></button>\n",
       "      <button onclick=\"anim28ca5c7fefc54d7f8302e44e64f770ea.first_frame()\"><i class=\"fa fa-fast-backward\">\n",
       "          </i></button>\n",
       "      <button onclick=\"anim28ca5c7fefc54d7f8302e44e64f770ea.previous_frame()\">\n",
       "          <i class=\"fa fa-step-backward\"></i></button>\n",
       "      <button onclick=\"anim28ca5c7fefc54d7f8302e44e64f770ea.reverse_animation()\">\n",
       "          <i class=\"fa fa-play fa-flip-horizontal\"></i></button>\n",
       "      <button onclick=\"anim28ca5c7fefc54d7f8302e44e64f770ea.pause_animation()\"><i class=\"fa fa-pause\">\n",
       "          </i></button>\n",
       "      <button onclick=\"anim28ca5c7fefc54d7f8302e44e64f770ea.play_animation()\"><i class=\"fa fa-play\"></i>\n",
       "          </button>\n",
       "      <button onclick=\"anim28ca5c7fefc54d7f8302e44e64f770ea.next_frame()\"><i class=\"fa fa-step-forward\">\n",
       "          </i></button>\n",
       "      <button onclick=\"anim28ca5c7fefc54d7f8302e44e64f770ea.last_frame()\"><i class=\"fa fa-fast-forward\">\n",
       "          </i></button>\n",
       "      <button onclick=\"anim28ca5c7fefc54d7f8302e44e64f770ea.faster()\"><i class=\"fa fa-plus\"></i></button>\n",
       "    </div>\n",
       "    <form action=\"#n\" name=\"_anim_loop_select28ca5c7fefc54d7f8302e44e64f770ea\" class=\"anim-state\">\n",
       "      <input type=\"radio\" name=\"state\" value=\"once\" id=\"_anim_radio1_28ca5c7fefc54d7f8302e44e64f770ea\"\n",
       "             checked>\n",
       "      <label for=\"_anim_radio1_28ca5c7fefc54d7f8302e44e64f770ea\">Once</label>\n",
       "      <input type=\"radio\" name=\"state\" value=\"loop\" id=\"_anim_radio2_28ca5c7fefc54d7f8302e44e64f770ea\"\n",
       "             >\n",
       "      <label for=\"_anim_radio2_28ca5c7fefc54d7f8302e44e64f770ea\">Loop</label>\n",
       "      <input type=\"radio\" name=\"state\" value=\"reflect\" id=\"_anim_radio3_28ca5c7fefc54d7f8302e44e64f770ea\"\n",
       "             >\n",
       "      <label for=\"_anim_radio3_28ca5c7fefc54d7f8302e44e64f770ea\">Reflect</label>\n",
       "    </form>\n",
       "  </div>\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",
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       "    var slider_id = \"_anim_slider28ca5c7fefc54d7f8302e44e64f770ea\";\n",
       "    var loop_select_id = \"_anim_loop_select28ca5c7fefc54d7f8302e44e64f770ea\";\n",
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       "MABSEjAAUvofej+T2BZpqXMAAAAASUVORK5CYII=\\\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",
       "        anim28ca5c7fefc54d7f8302e44e64f770ea = new Animation(frames, img_id, slider_id, 40.0,\n",
       "                                 loop_select_id);\n",
       "    }, 0);\n",
       "  })()\n",
       "</script>\n"
      ],
      "text/plain": [
       "<matplotlib.animation.FuncAnimation at 0x7fa8782eaf40>"
      ]
     },
     "execution_count": 27,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "frames = render_policy_net(model)\n",
    "plot_animation(frames)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [],
   "source": [
    "def play_one_step(env, obs, model, loss_fn):\n",
    "    with tf.GradientTape() as tape:\n",
    "        left_proba = model(obs[np.newaxis])\n",
    "        action = (tf.random.uniform([1, 1]) > left_proba)\n",
    "        y_target = tf.constant([[1.]]) - tf.cast(action, tf.float32)\n",
    "        loss = tf.reduce_mean(loss_fn(y_target, left_proba))\n",
    "    grads = tape.gradient(loss, model.trainable_variables)\n",
    "    obs, reward, done, info = env.step(int(action[0, 0].numpy()))\n",
    "    return obs, reward, done, grads"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {},
   "outputs": [],
   "source": [
    "def play_multiple_episodes(env, n_episodes, n_max_steps, model, loss_fn):\n",
    "    all_rewards = []\n",
    "    all_grads = []\n",
    "    \n",
    "    for episode in range(n_episodes):\n",
    "        current_rewards = []\n",
    "        current_grads = []\n",
    "        obs = env.reset()\n",
    "        for step in range(n_max_steps):\n",
    "            obs, reward, done, grads = play_one_step(env, obs, model, loss_fn)\n",
    "            current_rewards.append(reward)\n",
    "            current_grads.append(grads)\n",
    "            if done:\n",
    "                break\n",
    "        all_rewards.append(current_rewards)\n",
    "        all_grads.append(current_grads)\n",
    "    return all_rewards, all_grads"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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