Merge branch 'master' of https://github.umn.edu/damic014/ee4950-inverted-pendulum

Merge changes from Raspberry Pi testing with control code provided by Andy (created/modified on another computer).

3 files changed, 832 insertions, 0 deletions

diff --git a/System_Python/homework8.ipynb b/System_Python/homework8.ipynb
new file mode 100644
index 0000000..a9c28c9
--- /dev/null
+++ b/System_Python/homework8.ipynb
@@ -0,0 +1,350 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import gym\n",
+    "import swingUp\n",
+    "import numpy as np\n",
+    "import numpy.random as rnd\n",
+    "import torch as pt\n",
+    "import matplotlib.pyplot as plt\n",
+    "%matplotlib inline"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# The Swing-Up Problem\n",
+    "\n",
+    "In this homework we will study a classic problem of swinging up a pendulum and keeping it balanced. In this problem, forces in the range $[-1,1]$ are applied to a cart with a pendulum on it. The episode ends if one of the boundaries is reached or the pendulum swings too fast. Otherwise, it just keeps going. You recieve a reward of 1 any time the pendulum is above horizontal. You recieve a negative cost if the episode ends becauseof hitting the boundary or swinging too fast.\n",
+    "\n",
+    "The code below demonstrates a basic SARSA method with a neural network for approximating the $Q$-function. This system has continuous observation and action spaces. However, for simplicity and applicability of the basic SARSA method, we are only using two actions."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "class nnQ(pt.nn.Module):\n",
+    "    \"\"\"\n",
+    "    Here is a basic neural network with for representing a policy \n",
+    "    \"\"\"\n",
+    "    \n",
+    "    def __init__(self,stateDim,numActions,numHiddenUnits,numLayers):\n",
+    "        super().__init__()\n",
+    "        \n",
+    "        InputLayer = [pt.nn.Linear(stateDim+numActions,numHiddenUnits),\n",
+    "                      pt.nn.ReLU()]\n",
+    "        \n",
+    "        HiddenLayers = []\n",
+    "        for _ in range(numLayers-1):\n",
+    "            HiddenLayers.append(pt.nn.Linear(numHiddenUnits,numHiddenUnits))\n",
+    "            HiddenLayers.append(pt.nn.ReLU())\n",
+    "            \n",
+    "        \n",
+    "        OutputLayer = [pt.nn.Linear(numHiddenUnits,1)]\n",
+    "        \n",
+    "        AllLayers = InputLayer + HiddenLayers + OutputLayer\n",
+    "        self.net = pt.nn.Sequential(*AllLayers)\n",
+    "        \n",
+    "        self.numActions = numActions\n",
+    "        \n",
+    "    def forward(self,x,a):\n",
+    "        x = pt.tensor(x,dtype=pt.float32)\n",
+    "\n",
+    "        b = pt.nn.functional.one_hot(pt.tensor(a),self.numActions)\n",
+    "        \n",
+    "        c = b.float().detach()\n",
+    "        y = pt.cat([x,c])\n",
+    "        \n",
+    "        return self.net(y)\n",
+    "        \n",
+    "    \n",
+    "class sarsaAgent:\n",
+    "    def __init__(self,stateDim,numActions,numHiddenUnits,numLayers,\n",
+    "                epsilon=.1,gamma=.9,alpha=.1):\n",
+    "        self.Q = nnQ(stateDim,numActions,numHiddenUnits,numLayers)\n",
+    "        self.gamma = gamma\n",
+    "        self.epsilon = epsilon\n",
+    "        self.alpha = alpha\n",
+    "        self.numActions = numActions\n",
+    "        self.s_last = None\n",
+    "    def action(self,x):\n",
+    "        # This is an epsilon greedy selection\n",
+    "        if rnd.rand() < self.epsilon:\n",
+    "            a = rnd.randint(numActions)\n",
+    "        else:\n",
+    "            qBest = -np.inf\n",
+    "            for aTest in range(self.numActions):\n",
+    "                qTest = self.Q(x,aTest).detach().numpy()[0]\n",
+    "                if qTest > qBest:\n",
+    "                    qBest = qTest\n",
+    "                    a = aTest\n",
+    "        return a\n",
+    "    \n",
+    "    def update(self,s,a,r,s_next,done):\n",
+    "        \n",
+    "        # Compute the TD error, if there is enough data\n",
+    "        update = True\n",
+    "        if done:\n",
+    "            Q_cur = self.Q(s,a).detach().numpy()[0]\n",
+    "            delta = r - Q_cur\n",
+    "            self.s_last = None\n",
+    "            Q_diff = self.Q(s,a)\n",
+    "        elif self.s_last is not None:\n",
+    "            Q_next = self.Q(s,a).detach().numpy()[0]\n",
+    "            Q_cur = self.Q(self.s_last,self.a_last).detach().numpy()[0]\n",
+    "            delta = self.r_last + self.gamma * Q_next - Q_cur\n",
+    "            Q_diff = self.Q(self.s_last,self.a_last)\n",
+    "        else:\n",
+    "            update = False\n",
+    "            \n",
+    "        # Update the parameter via the semi-gradient method\n",
+    "        if update:\n",
+    "            self.Q.zero_grad()\n",
+    "            Q_diff.backward()\n",
+    "            for p in self.Q.parameters():\n",
+    "                p.data.add_(self.alpha*delta,p.grad.data)\n",
+    "            \n",
+    "            \n",
+    "        \n",
+    "        if not done:\n",
+    "            self.s_last = np.copy(s)\n",
+    "            self.a_last = np.copy(a)\n",
+    "            self.r_last = np.copy(r)\n"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# The Simulation\n",
+    "\n",
+    "Here is the simulation. It takes about an hour to run this (at least on my computer). I suggest you make yourself a very complex, luxurious sandwich while you wait. Alternatively, just decrease `maxSteps` to a more civilised value.\n",
+    "\n",
+    "It doesn't learn the task perfectly, but it will do pretty well for stretches. "
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Episode: 1 Total Steps: 705 , Ave. Reward: -0.7323210705117651 , Episode Length: 705 Max Up-Time: 54\n",
+      "Episode: 2 Total Steps: 1087 , Ave. Reward: -1.386005534482438 , Episode Length: 382 Max Up-Time: 38\n",
+      "Episode: 3 Total Steps: 1563 , Ave. Reward: -0.757185810040358 , Episode Length: 476 Max Up-Time: 52\n",
+      "Episode: 4 Total Steps: 1871 , Ave. Reward: -2.3208087438993275 , Episode Length: 308 Max Up-Time: 86\n",
+      "Episode: 5 Total Steps: 2193 , Ave. Reward: -2.1598192165326444 , Episode Length: 322 Max Up-Time: 33\n",
+      "Episode: 6 Total Steps: 2855 , Ave. Reward: -0.7392412280730795 , Episode Length: 662 Max Up-Time: 45\n",
+      "Episode: 7 Total Steps: 3307 , Ave. Reward: -1.3685011673110579 , Episode Length: 452 Max Up-Time: 60\n",
+      "Episode: 8 Total Steps: 3893 , Ave. Reward: -0.745503768027489 , Episode Length: 586 Max Up-Time: 27\n",
+      "Episode: 9 Total Steps: 4243 , Ave. Reward: -1.8577023916291222 , Episode Length: 350 Max Up-Time: 44\n",
+      "Episode: 10 Total Steps: 4510 , Ave. Reward: -0.7272320071143903 , Episode Length: 267 Max Up-Time: 29\n",
+      "Episode: 11 Total Steps: 5193 , Ave. Reward: -0.36655536116630455 , Episode Length: 683 Max Up-Time: 39\n",
+      "Episode: 12 Total Steps: 6005 , Ave. Reward: -0.2880664852587831 , Episode Length: 812 Max Up-Time: 57\n",
+      "Episode: 13 Total Steps: 6476 , Ave. Reward: -1.9700554803843828 , Episode Length: 471 Max Up-Time: 40\n",
+      "Episode: 14 Total Steps: 6654 , Ave. Reward: -3.5124131530851304 , Episode Length: 178 Max Up-Time: 33\n",
+      "Episode: 15 Total Steps: 7120 , Ave. Reward: -1.0719102072420077 , Episode Length: 466 Max Up-Time: 30\n",
+      "Episode: 16 Total Steps: 7385 , Ave. Reward: -1.2138522089615815 , Episode Length: 265 Max Up-Time: 30\n",
+      "Episode: 17 Total Steps: 7890 , Ave. Reward: -0.9911817636578898 , Episode Length: 505 Max Up-Time: 34\n",
+      "Episode: 18 Total Steps: 8348 , Ave. Reward: -0.24673268477366056 , Episode Length: 458 Max Up-Time: 24\n",
+      "Episode: 19 Total Steps: 8885 , Ave. Reward: -0.19901803972570822 , Episode Length: 537 Max Up-Time: 34\n",
+      "Episode: 20 Total Steps: 9257 , Ave. Reward: -1.0397485980722023 , Episode Length: 372 Max Up-Time: 47\n",
+      "Episode: 21 Total Steps: 9593 , Ave. Reward: -1.9637917520715307 , Episode Length: 336 Max Up-Time: 62\n",
+      "Episode: 22 Total Steps: 10146 , Ave. Reward: -1.9249864843211308 , Episode Length: 553 Max Up-Time: 37\n",
+      "Episode: 23 Total Steps: 10413 , Ave. Reward: -2.4530561661945107 , Episode Length: 267 Max Up-Time: 45\n",
+      "Episode: 24 Total Steps: 11569 , Ave. Reward: -0.6792904495051211 , Episode Length: 1156 Max Up-Time: 78\n",
+      "Episode: 25 Total Steps: 11982 , Ave. Reward: -0.8938237978597035 , Episode Length: 413 Max Up-Time: 39\n",
+      "Episode: 26 Total Steps: 12243 , Ave. Reward: -1.2015515630784517 , Episode Length: 261 Max Up-Time: 20\n",
+      "Episode: 27 Total Steps: 12419 , Ave. Reward: -2.887021412838564 , Episode Length: 176 Max Up-Time: 34\n",
+      "Episode: 28 Total Steps: 13159 , Ave. Reward: -0.6110313146967027 , Episode Length: 740 Max Up-Time: 37\n",
+      "Episode: 29 Total Steps: 13589 , Ave. Reward: -1.928537880786853 , Episode Length: 430 Max Up-Time: 75\n",
+      "Episode: 30 Total Steps: 14149 , Ave. Reward: -2.057777774292444 , Episode Length: 560 Max Up-Time: 33\n",
+      "Episode: 31 Total Steps: 14662 , Ave. Reward: -1.1384388629314761 , Episode Length: 513 Max Up-Time: 75\n",
+      "Episode: 32 Total Steps: 15058 , Ave. Reward: -0.7835031778339514 , Episode Length: 396 Max Up-Time: 31\n",
+      "Episode: 33 Total Steps: 15649 , Ave. Reward: -0.8815494773451172 , Episode Length: 591 Max Up-Time: 57\n",
+      "Episode: 34 Total Steps: 16393 , Ave. Reward: -1.2573853074557841 , Episode Length: 744 Max Up-Time: 44\n",
+      "Episode: 35 Total Steps: 16920 , Ave. Reward: -1.7520053641436282 , Episode Length: 527 Max Up-Time: 60\n",
+      "Episode: 36 Total Steps: 17557 , Ave. Reward: -1.3575707923649754 , Episode Length: 637 Max Up-Time: 29\n",
+      "Episode: 37 Total Steps: 18229 , Ave. Reward: -1.1195498770809882 , Episode Length: 672 Max Up-Time: 53\n",
+      "Episode: 38 Total Steps: 18618 , Ave. Reward: -3.222163638956208 , Episode Length: 389 Max Up-Time: 35\n",
+      "Episode: 39 Total Steps: 19276 , Ave. Reward: -0.5477558848181898 , Episode Length: 658 Max Up-Time: 65\n",
+      "Episode: 40 Total Steps: 19804 , Ave. Reward: -0.6584685777265661 , Episode Length: 528 Max Up-Time: 59\n",
+      "Episode: 41 Total Steps: 20571 , Ave. Reward: -0.4637257282420204 , Episode Length: 767 Max Up-Time: 66\n",
+      "Episode: 42 Total Steps: 21002 , Ave. Reward: -1.0716300038503115 , Episode Length: 431 Max Up-Time: 34\n",
+      "Episode: 43 Total Steps: 21892 , Ave. Reward: -0.5765091241222032 , Episode Length: 890 Max Up-Time: 43\n",
+      "Episode: 44 Total Steps: 22898 , Ave. Reward: -0.014668360500057598 , Episode Length: 1006 Max Up-Time: 82\n",
+      "Episode: 45 Total Steps: 23543 , Ave. Reward: -0.9241536579523029 , Episode Length: 645 Max Up-Time: 83\n",
+      "Episode: 46 Total Steps: 23871 , Ave. Reward: -1.0800045254850208 , Episode Length: 328 Max Up-Time: 54\n",
+      "Episode: 47 Total Steps: 24746 , Ave. Reward: -0.4107819625154534 , Episode Length: 875 Max Up-Time: 55\n",
+      "Episode: 48 Total Steps: 25088 , Ave. Reward: -1.2879242748541877 , Episode Length: 342 Max Up-Time: 33\n",
+      "Episode: 49 Total Steps: 26200 , Ave. Reward: -0.26045605232327973 , Episode Length: 1112 Max Up-Time: 41\n",
+      "Episode: 50 Total Steps: 26444 , Ave. Reward: -1.919118523045648 , Episode Length: 244 Max Up-Time: 39\n",
+      "Episode: 51 Total Steps: 27253 , Ave. Reward: -1.4967671580395374 , Episode Length: 809 Max Up-Time: 46\n",
+      "Episode: 52 Total Steps: 27729 , Ave. Reward: -2.8176206551741148 , Episode Length: 476 Max Up-Time: 79\n",
+      "Episode: 53 Total Steps: 28229 , Ave. Reward: -0.6498666207781548 , Episode Length: 500 Max Up-Time: 41\n",
+      "Episode: 54 Total Steps: 28535 , Ave. Reward: -1.442685133245505 , Episode Length: 306 Max Up-Time: 50\n",
+      "Episode: 55 Total Steps: 29554 , Ave. Reward: -0.7346716942732042 , Episode Length: 1019 Max Up-Time: 91\n",
+      "Episode: 56 Total Steps: 30478 , Ave. Reward: -0.2849088403628985 , Episode Length: 924 Max Up-Time: 74\n",
+      "Episode: 57 Total Steps: 31018 , Ave. Reward: -0.9564715045670377 , Episode Length: 540 Max Up-Time: 37\n",
+      "Episode: 58 Total Steps: 31702 , Ave. Reward: -0.029077670750031454 , Episode Length: 684 Max Up-Time: 107\n",
+      "Episode: 59 Total Steps: 32987 , Ave. Reward: -0.7201722007016701 , Episode Length: 1285 Max Up-Time: 61\n",
+      "Episode: 60 Total Steps: 33662 , Ave. Reward: -1.447542019951657 , Episode Length: 675 Max Up-Time: 36\n",
+      "Episode: 61 Total Steps: 34853 , Ave. Reward: -0.7092105324653137 , Episode Length: 1191 Max Up-Time: 60\n",
+      "Episode: 62 Total Steps: 35556 , Ave. Reward: -1.008758527335291 , Episode Length: 703 Max Up-Time: 70\n",
+      "Episode: 63 Total Steps: 37253 , Ave. Reward: -0.11298222499952609 , Episode Length: 1697 Max Up-Time: 71\n",
+      "Episode: 64 Total Steps: 37607 , Ave. Reward: -2.333472374918777 , Episode Length: 354 Max Up-Time: 42\n",
+      "Episode: 65 Total Steps: 38769 , Ave. Reward: -0.5435572183910845 , Episode Length: 1162 Max Up-Time: 86\n",
+      "Episode: 66 Total Steps: 40346 , Ave. Reward: -0.3510286890823708 , Episode Length: 1577 Max Up-Time: 35\n",
+      "Episode: 67 Total Steps: 41342 , Ave. Reward: -0.43548023889291587 , Episode Length: 996 Max Up-Time: 56\n",
+      "Episode: 68 Total Steps: 41732 , Ave. Reward: -0.5497570997221486 , Episode Length: 390 Max Up-Time: 23\n",
+      "Episode: 69 Total Steps: 42909 , Ave. Reward: 0.038723967455411054 , Episode Length: 1177 Max Up-Time: 50\n",
+      "Episode: 70 Total Steps: 43482 , Ave. Reward: -0.6763002936147164 , Episode Length: 573 Max Up-Time: 44\n",
+      "Episode: 71 Total Steps: 44648 , Ave. Reward: -0.9062670195421423 , Episode Length: 1166 Max Up-Time: 38\n",
+      "Episode: 72 Total Steps: 45758 , Ave. Reward: -0.30692741058433193 , Episode Length: 1110 Max Up-Time: 65\n",
+      "Episode: 73 Total Steps: 45969 , Ave. Reward: -5.942005811194079 , Episode Length: 211 Max Up-Time: 33\n",
+      "Episode: 74 Total Steps: 46338 , Ave. Reward: -2.397374412919753 , Episode Length: 369 Max Up-Time: 46\n",
+      "Episode: 75 Total Steps: 46748 , Ave. Reward: -0.8976414519854521 , Episode Length: 410 Max Up-Time: 51\n",
+      "Episode: 76 Total Steps: 47539 , Ave. Reward: -0.7642109985612977 , Episode Length: 791 Max Up-Time: 36\n",
+      "Episode: 77 Total Steps: 48602 , Ave. Reward: -0.28253135177080774 , Episode Length: 1063 Max Up-Time: 69\n",
+      "Episode: 78 Total Steps: 48996 , Ave. Reward: -0.9534163332275297 , Episode Length: 394 Max Up-Time: 20\n",
+      "Episode: 79 Total Steps: 50055 , Ave. Reward: -0.2423828962026703 , Episode Length: 1059 Max Up-Time: 91\n"
+     ]
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Episode: 80 Total Steps: 50944 , Ave. Reward: -0.6279331535186513 , Episode Length: 889 Max Up-Time: 52\n",
+      "Episode: 81 Total Steps: 52280 , Ave. Reward: -0.20073270114025632 , Episode Length: 1336 Max Up-Time: 83\n",
+      "Episode: 82 Total Steps: 53883 , Ave. Reward: -0.08541144990249938 , Episode Length: 1603 Max Up-Time: 122\n",
+      "Episode: 83 Total Steps: 54334 , Ave. Reward: -0.34031538317112564 , Episode Length: 451 Max Up-Time: 44\n",
+      "Episode: 84 Total Steps: 55892 , Ave. Reward: -0.8371231570383377 , Episode Length: 1558 Max Up-Time: 34\n",
+      "Episode: 85 Total Steps: 57479 , Ave. Reward: -0.699271602876404 , Episode Length: 1587 Max Up-Time: 41\n",
+      "Episode: 86 Total Steps: 61409 , Ave. Reward: -0.1733200848853596 , Episode Length: 3930 Max Up-Time: 67\n",
+      "Episode: 87 Total Steps: 63851 , Ave. Reward: -0.08644986908609424 , Episode Length: 2442 Max Up-Time: 81\n",
+      "Episode: 88 Total Steps: 69570 , Ave. Reward: -0.09404408310442923 , Episode Length: 5719 Max Up-Time: 38\n",
+      "Episode: 89 Total Steps: 76704 , Ave. Reward: -0.17318490459394822 , Episode Length: 7134 Max Up-Time: 35\n",
+      "Episode: 90 Total Steps: 90786 , Ave. Reward: -0.0956459185629743 , Episode Length: 14082 Max Up-Time: 28\n"
+     ]
+    }
+   ],
+   "source": [
+    "# This is the environment\n",
+    "env = swingUp.SwingUpEnv()\n",
+    "\n",
+    "# For simplicity, we only consider forces of -1 and 1\n",
+    "numActions = 2\n",
+    "Actions = np.linspace(-1,1,numActions)\n",
+    "\n",
+    "# This is our learning agent\n",
+    "gamma = .95\n",
+    "agent = sarsaAgent(5,numActions,20,1,epsilon=5e-2,gamma=gamma,alpha=1e-5)\n",
+    "\n",
+    "maxSteps = 2e5\n",
+    "\n",
+    "# This is a helper to deal with the fact that x[2] is actually an angle\n",
+    "x_to_y = lambda x : np.array([x[0],x[1],np.cos(x[2]),np.sin(x[2]),x[3]])\n",
+    "\n",
+    "R = []\n",
+    "UpTime = []\n",
+    "\n",
+    "step = 0\n",
+    "ep = 0\n",
+    "while step < maxSteps:\n",
+    "    ep += 1\n",
+    "    x = env.reset()\n",
+    "    C = 0.\n",
+    "    \n",
+    "    done = False\n",
+    "    t = 1\n",
+    "    while not done:\n",
+    "        t += 1\n",
+    "        step += 1\n",
+    "        y = x_to_y(x)\n",
+    "        a = agent.action(y)\n",
+    "        u = Actions[a:a+1]\n",
+    "        env.render()\n",
+    "        x_next,c,done,info = env.step(u)\n",
+    "        \n",
+    "        max_up_time = info['max_up_time']\n",
+    "        y_next = x_to_y(x_next)\n",
+    "\n",
+    "        C += (1./t)*(c-C)\n",
+    "        agent.update(y,a,c,y_next,done)\n",
+    "        x = x_next\n",
+    "        if done:\n",
+    "            break\n",
+    "            \n",
+    "        if step >= maxSteps:\n",
+    "            break\n",
+    "            \n",
+    "        \n",
+    "        R.append(C)\n",
+    "    UpTime.append(max_up_time)\n",
+    "    #print('t:',ep+1,', R:',C,', L:',t-1,', G:',G,', Q:', Q_est, 'U:', max_up_time)\n",
+    "    print('Episode:',ep,'Total Steps:',step,', Ave. Reward:',C,', Episode Length:',t-1, 'Max Up-Time:', max_up_time)\n",
+    "env.close()\n",
+    "\n",
+    "plt.plot(UpTime)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "In each episode, the system tracks the \"Maximum Up-Time\", which is the longest stretch of time that the pendulum tip was above the horizontal"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Question\n",
+    "\n",
+    "Implement your own controller or modify the code above. Try a different function approximation and see if you can get longer up time, learn more quickly, or more consistently. As with the code above, plot the maximum up time for each episode."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Make your code here."
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python [default]",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.6.8"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/System_Python/swingUp.py b/System_Python/swingUp.py
new file mode 100644
index 0000000..f14ef37
--- /dev/null
+++ b/System_Python/swingUp.py
@@ -0,0 +1,207 @@
+"""
+Classic cart-pole system implemented by Rich Sutton et al.
+Copied from http://incompleteideas.net/sutton/book/code/pole.c
+permalink: https://perma.cc/C9ZM-652R
+"""
+
+import math
+import gym
+from gym import spaces, logger
+from gym.utils import seeding
+import numpy as np
+
+class SwingUpEnv(gym.Env):
+    """
+    Description:
+        A pole is attached by an un-actuated joint to a cart, which moves along a frictionless track. The pendulum starts upright, and the goal is to prevent it from falling over by increasing and reducing the cart's velocity.
+
+    Source:
+        This environment corresponds to the version of the cart-pole problem described by Barto, Sutton, and Anderson
+
+    Observation: 
+        Type: Box(4)
+        Num	Observation                 Min         Max
+        0	Cart Position             -4.8            4.8
+        1	Cart Velocity             -Inf            Inf
+        2	Pole Angle                 -Inf           Inf
+        3	Pole Velocity At Tip      -Inf            Inf
+        
+    Actions:
+        Type: Box(1)
+        Num	Action                      Min         Max
+        0	Push cart                   -1          1
+        
+        Note: The amount the velocity that is reduced or increased is not fixed; it depends on the angle the pole is pointing. This is because the center of gravity of the pole increases the amount of energy needed to move the cart underneath it
+
+    Reward:
+        Reward is 1 for every step taken, including the termination step
+
+    Starting State:
+        All observations are assigned a uniform random value in [-0.05..0.05]
+
+    Episode Termination:
+        Pole Angle is more than 12 degrees
+        Cart Position is more than 2.4 (center of the cart reaches the edge of the display)
+        Episode length is greater than 200
+        Solved Requirements
+        Considered solved when the average reward is greater than or equal to 195.0 over 100 consecutive trials.
+    """
+    
+    metadata = {
+        'render.modes': ['human', 'rgb_array'],
+        'video.frames_per_second' : 50
+    }
+
+    def __init__(self):
+        self.gravity = 9.8
+        self.masscart = 1.0
+        self.masspole = 0.1
+        self.total_mass = (self.masspole + self.masscart)
+        self.length = 0.5 # actually half the pole's length
+        self.polemass_length = (self.masspole * self.length)
+        self.force_mag = 10.0
+        self.tau = 0.02  # seconds between state updates
+        self.kinematics_integrator = 'euler'
+
+        # Angle at which to fail the episode
+        self.x_threshold = 2.4
+        self.x_dot_threshold = 10.
+        self.theta_dot_threshold = 3*np.pi
+
+        # Angle limit set to 2 * theta_threshold_radians so failing observation is still within bounds
+        high = np.array([
+            self.x_threshold*2,
+            self.x_dot_threshold,
+            np.finfo(np.float32).max,
+            np.finfo(np.float32).max])
+
+        
+        self.action_space = spaces.Box(-np.ones(1),np.ones(1),dtype=np.float32)
+        self.observation_space = spaces.Box(-high, high, dtype=np.float32)
+
+        self.seed()
+        self.viewer = None
+        self.state = None
+
+        self.steps_beyond_done = None
+
+    def seed(self, seed=None):
+        self.np_random, seed = seeding.np_random(seed)
+        return [seed]
+
+    def step(self, action):
+        assert self.action_space.contains(action), "%r (%s) invalid"%(action, type(action))
+        state = self.state
+        x, x_dot, theta, theta_dot = state
+        force = self.force_mag * action[0]
+		
+        costheta = math.cos(theta)
+        sintheta = math.sin(theta)
+
+        if costheta > 0:
+            self.up_time += 1
+            self.max_up_time = np.max([self.up_time,self.max_up_time])
+
+        else:
+            self.up_time = 0
+                
+        temp = (force + self.polemass_length * theta_dot * theta_dot * sintheta) / self.total_mass
+        thetaacc = (self.gravity * sintheta - costheta* temp) / (self.length * (4.0/3.0 - self.masspole * costheta * costheta / self.total_mass))
+        xacc  = temp - self.polemass_length * thetaacc * costheta / self.total_mass
+        if self.kinematics_integrator == 'euler':
+            x  = x + self.tau * x_dot
+            x_dot = x_dot + self.tau * xacc
+            theta = theta + self.tau * theta_dot
+            theta_dot = theta_dot + self.tau * thetaacc
+        else: # semi-implicit euler
+            x_dot = x_dot + self.tau * xacc
+            x  = x + self.tau * x_dot
+            theta_dot = theta_dot + self.tau * thetaacc
+            theta = theta + self.tau * theta_dot
+        self.state = (x,x_dot,theta,theta_dot)
+        done =  x < -self.x_threshold \
+                or x > self.x_threshold \
+                or theta_dot < -self.theta_dot_threshold \
+                or theta_dot > self.theta_dot_threshold
+        done = bool(done)
+
+        if not done:
+            reward = np.ceil(costheta)
+        elif self.steps_beyond_done is None:
+            # Pole just fell!
+            self.steps_beyond_done = 0
+            reward = -(100 * (np.abs(x_dot)+np.abs(theta_dot)))
+        else:
+            if self.steps_beyond_done == 0:
+                logger.warn("You are calling 'step()' even though this environment has already returned done = True. You should always call 'reset()' once you receive 'done = True' -- any further steps are undefined behavior.")
+            self.steps_beyond_done += 1
+            reward = 0.0
+
+        return np.array(self.state), reward, done, {'max_up_time' : self.max_up_time}
+
+    def reset(self):
+        self.state = self.np_random.uniform(low=-.5,high=.5,size=(4,))
+        self.state[2] += np.pi
+        self.up_time = 0
+        self.max_up_time = 0
+        self.up = False
+        self.steps_beyond_done = None
+        return np.array(self.state)
+
+    def render(self, mode='human'):
+        screen_width = 600
+        screen_height = 400
+
+        world_width = self.x_threshold*2
+        scale = screen_width/world_width
+        carty = 100 # TOP OF CART
+        polewidth = 10.0
+        polelen = scale * (2 * self.length)
+        cartwidth = 50.0
+        cartheight = 30.0
+
+        if self.viewer is None:
+            from gym.envs.classic_control import rendering
+            self.viewer = rendering.Viewer(screen_width, screen_height)
+            l,r,t,b = -cartwidth/2, cartwidth/2, cartheight/2, -cartheight/2
+            axleoffset =cartheight/4.0
+            cart = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)])
+            self.carttrans = rendering.Transform()
+            cart.add_attr(self.carttrans)
+            self.viewer.add_geom(cart)
+            l,r,t,b = -polewidth/2,polewidth/2,polelen-polewidth/2,-polewidth/2
+            pole = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)])
+            pole.set_color(.8,.6,.4)
+            self.poletrans = rendering.Transform(translation=(0, axleoffset))
+            pole.add_attr(self.poletrans)
+            pole.add_attr(self.carttrans)
+            self.viewer.add_geom(pole)
+            self.axle = rendering.make_circle(polewidth/2)
+            self.axle.add_attr(self.poletrans)
+            self.axle.add_attr(self.carttrans)
+            self.axle.set_color(.5,.5,.8)
+            self.viewer.add_geom(self.axle)
+            self.track = rendering.Line((0,carty), (screen_width,carty))
+            self.track.set_color(0,0,0)
+            self.viewer.add_geom(self.track)
+
+            self._pole_geom = pole
+
+        if self.state is None: return None
+
+        # Edit the pole polygon vertex
+        pole = self._pole_geom
+        l,r,t,b = -polewidth/2,polewidth/2,polelen-polewidth/2,-polewidth/2
+        pole.v = [(l,b), (l,t), (r,t), (r,b)]
+
+        x = self.state
+        cartx = x[0]*scale+screen_width/2.0 # MIDDLE OF CART
+        self.carttrans.set_translation(cartx, carty)
+        self.poletrans.set_rotation(-x[2])
+
+        return self.viewer.render(return_rgb_array = mode=='rgb_array')
+
+    def close(self):
+        if self.viewer:
+            self.viewer.close()
+            self.viewer = None
diff --git a/System_Python/system_swingup_test.py b/System_Python/system_swingup_test.py
new file mode 100644
index 0000000..1b30c41
--- /dev/null
+++ b/System_Python/system_swingup_test.py
@@ -0,0 +1,275 @@
+import numpy as np

+import numpy.random as rnd

+import torch as pt

+

+import math

+from gym import spaces, logger

+from gym.utils import seeding

+

+from system import System

+import time

+

+class SwingUpEnv():

+    """

+    Description:

+        A pole is attached by an un-actuated joint to a cart, which moves along a frictionless track. The pendulum starts upright, and the goal is to prevent it from falling over by increasing and reducing the cart's velocity.

+

+    Source:

+        This environment corresponds to the version of the cart-pole problem described by Barto, Sutton, and Anderson

+

+    Observation: 

+        Type: Box(4)

+        Num	Observation                 Min         Max

+        0	Cart Position             -4.8            4.8

+        1	Cart Velocity             -Inf            Inf

+        2	Pole Angle                 -Inf           Inf

+        3	Pole Velocity At Tip      -Inf            Inf

+        

+    Actions:

+        Type: Box(1)

+        Num	Action                      Min         Max

+        0	Push cart                   -1          1

+        

+        Note: The amount the velocity that is reduced or increased is not fixed; it depends on the angle the pole is pointing. This is because the center of gravity of the pole increases the amount of energy needed to move the cart underneath it

+

+    Reward:

+        Reward is 1 for every step taken, including the termination step

+

+    Starting State:

+        All observations are assigned a uniform random value in [-0.05..0.05]

+

+    Episode Termination:

+        Pole Angle is more than 12 degrees

+        Cart Position is more than 2.4 (center of the cart reaches the edge of the display)

+        Episode length is greater than 200

+        Solved Requirements

+        Considered solved when the average reward is greater than or equal to 195.0 over 100 consecutive trials.

+    """

+    

+    metadata = {

+        'render.modes': ['human', 'rgb_array'],

+        'video.frames_per_second' : 50

+    }

+

+    def __init__(self):

+        self.sys = System()

+		

+        self.force_mag = 10.0

+        self.tau = 0.02  # seconds between state updates

+

+        # Angle at which to fail the episode

+        self.x_threshold = 10.

+        self.x_dot_threshold = 10.

+        self.theta_dot_threshold = 3*np.pi

+

+        # Angle limit set to 2 * theta_threshold_radians so failing observation is still within bounds

+        high = np.array([self.x_threshold*2, self.x_dot_threshold, np.finfo(np.float32).max, np.finfo(np.float32).max])

+

+        

+        self.action_space = spaces.Box(-np.ones(1), np.ones(1), dtype = np.float32)

+

+        self.seed()

+        self.state = None

+

+        self.steps_beyond_done = None

+

+    def seed(self, seed=None):

+        self.np_random, seed = seeding.np_random(seed)

+        return [seed]

+

+    def step(self, action):

+        assert self.action_space.contains(action), "%r (%s) invalid"%(action, type(action))

+        state = self.state

+        x, x_dot, theta, theta_dot = state

+        force = self.force_mag * action[0]

+		self.sys.adjust(force)

+		

+        costheta = math.cos(theta)

+        sintheta = math.sin(theta)

+

+        if costheta > 0:

+            self.up_time += 1

+            self.max_up_time = np.max([self.up_time, self.max_up_time])

+

+        else:

+            self.up_time = 0

+        

+		new_theta, new_x = self.sys.measure()

+		new_theta = radians(new_theta)

+		theta_dot = (new_theta - theta) / self.tau

+        x_dot = (new_x - x) / self.tau

+		self.state = (new_x, x_dot, new_theta, theta_dot)

+		

+        done =  x < -self.x_threshold \

+                or x > self.x_threshold \

+                or theta_dot < -self.theta_dot_threshold \

+                or theta_dot > self.theta_dot_threshold

+        done = bool(done)

+

+        if not done:

+            reward = np.ceil(costheta)

+        elif self.steps_beyond_done is None:

+            # Pole just fell!

+            self.steps_beyond_done = 0

+            reward = -( 100 * (np.abs(x_dot) + np.abs(theta_dot)) )

+        else:

+            if self.steps_beyond_done == 0:

+                logger.warn("You are calling 'step()' even though this environment has already returned done = True. You should always call 'reset()' once you receive 'done = True' -- any further steps are undefined behavior.")

+            self.steps_beyond_done += 1

+            reward = 0.0

+

+        return np.array(self.state), reward, done, {'max_up_time' : self.max_up_time}

+

+    def reset(self):

+		self.sys.return_home()

+		time.sleep(1)

+		self.state = (0, 0, np.pi, 0)

+		

+        self.up_time = 0

+        self.max_up_time = 0

+        self.up = False

+        self.steps_beyond_done = None

+        return np.array(self.state)

+

+

+class nnQ(pt.nn.Module):

+    """

+    Here is a basic neural network with for representing a policy 

+    """

+    

+    def __init__(self, stateDim, numActions, numHiddenUnits, numLayers):

+        super().__init__()

+        

+        InputLayer = [pt.nn.Linear(stateDim + numActions, numHiddenUnits),

+                      pt.nn.ReLU()]

+        

+        HiddenLayers = []

+        for _ in range(numLayers - 1):

+            HiddenLayers.append(pt.nn.Linear(numHiddenUnits, numHiddenUnits))

+            HiddenLayers.append(pt.nn.ReLU())

+            

+        

+        OutputLayer = [pt.nn.Linear(numHiddenUnits, 1)]

+        

+        AllLayers = InputLayer + HiddenLayers + OutputLayer

+        self.net = pt.nn.Sequential(*AllLayers)

+        

+        self.numActions = numActions

+        

+    def forward(self,x,a):

+        x = pt.tensor(x, dtype = pt.float32)

+

+        b = pt.nn.functional.one_hot(pt.tensor(a), self.numActions)

+        

+        c = b.float().detach()

+        y = pt.cat([x, c])

+        

+        return self.net(y)

+        

+    

+class sarsaAgent:

+    def __init__(self, stateDim, numActions, numHiddenUnits, numLayers,

+                 epsilon = .1, gamma = .9, alpha = .1):

+        self.Q = nnQ(stateDim, numActions, numHiddenUnits, numLayers)

+        self.gamma = gamma

+        self.epsilon = epsilon

+        self.alpha = alpha

+        self.numActions = numActions

+        self.s_last = None

+

+    def action(self, x):

+        # This is an epsilon greedy selection

+        if rnd.rand() < self.epsilon:

+            a = rnd.randint(numActions)

+        else:

+            qBest = -np.inf

+            for aTest in range(self.numActions):

+                qTest = self.Q(x, aTest).detach().numpy()[0]

+                if qTest > qBest:

+                    qBest = qTest

+                    a = aTest

+        return a

+    

+    def update(self, s, a, r, s_next,done):

+        # Compute the TD error, if there is enough data

+        update = True

+        if done:

+            Q_cur = self.Q(s, a).detach().numpy()[0]

+            delta = r - Q_cur

+            self.s_last = None

+            Q_diff = self.Q(s, a)

+        elif self.s_last is not None:

+            Q_next = self.Q(s, a).detach().numpy()[0]

+            Q_cur = self.Q(self.s_last, self.a_last).detach().numpy()[0]

+            delta = self.r_last + self.gamma * Q_next - Q_cur

+            Q_diff = self.Q(self.s_last, self.a_last)

+        else:

+            update = False

+            

+        # Update the parameter via the semi-gradient method

+        if update:

+            self.Q.zero_grad()

+            Q_diff.backward()

+            for p in self.Q.parameters():

+                p.data.add_(self.alpha * delta, p.grad.data)

+

+        if not done:

+            self.s_last = np.copy(s)

+            self.a_last = np.copy(a)

+            self.r_last = np.copy(r)

+

+# This is the environment

+env = swingUp.SwingUpEnv()

+

+# For simplicity, we only consider forces of -1 and 1

+numActions = 2

+Actions = np.linspace(-1, 1, numActions)

+

+# This is our learning agent

+gamma = .95

+agent = sarsaAgent(5, numActions, 20, 1, epsilon = 5e-2, gamma = gamma, alpha = 1e-5)

+

+maxSteps = 2e5

+

+# This is a helper to deal with the fact that x[2] is actually an angle

+x_to_y = lambda x : np.array([x[0], x[1], np.cos(x[2]), np.sin(x[2]), x[3]])

+

+R = []

+UpTime = []

+

+step = 0

+ep = 0

+while step < maxSteps:

+    ep += 1

+    x = env.reset()

+    C = 0.

+    

+    done = False

+    t = 1

+    while not done:

+        t += 1

+        step += 1

+        y = x_to_y(x)

+        a = agent.action(y)

+        u = Actions[a:a+1]

+        env.render()

+        x_next, c, done, info = env.step(u)

+        

+        max_up_time = info['max_up_time']

+        y_next = x_to_y(x_next)

+

+        C += (1./t) * (c - C)

+        agent.update(y, a, c, y_next, done)

+        x = x_next

+        if done:

+            break

+            

+        if step >= maxSteps:

+            break

+            

+        

+        R.append(C)

+    UpTime.append(max_up_time)

+    #print('t:',ep+1,', R:',C,', L:',t-1,', G:',G,', Q:', Q_est, 'U:', max_up_time)

+    print('Episode:',ep, 'Total Steps:',step, ', Ave. Reward:',C, ', Episode Length:',t-1, 'Max Up-Time:',max_up_time)

+env.close()