@arcanea/guardian-evolution 0.1.0

package/dist/algorithms/a2c.d.ts

@@ -0,0 +1,86 @@
+/**
+ * Advantage Actor-Critic (A2C)
+ *
+ * Implements synchronous A2C algorithm with:
+ * - Shared actor-critic network
+ * - N-step returns
+ * - Entropy regularization
+ * - Advantage normalization
+ *
+ * Performance Target: <10ms per update step
+ */
+import type { RLConfig, Trajectory } from '../types.js';
+/**
+ * A2C configuration
+ */
+export interface A2CConfig extends RLConfig {
+    algorithm: 'a2c';
+    nSteps: number;
+    useGAE: boolean;
+    gaeLambda: number;
+}
+/**
+ * Default A2C configuration
+ */
+export declare const DEFAULT_A2C_CONFIG: A2CConfig;
+/**
+ * A2C Algorithm Implementation
+ */
+export declare class A2CAlgorithm {
+    private config;
+    private sharedWeights;
+    private policyHead;
+    private valueHead;
+    private sharedMomentum;
+    private policyMomentum;
+    private valueMomentum;
+    private buffer;
+    private inputDim;
+    private hiddenDim;
+    private numActions;
+    private updateCount;
+    private avgPolicyLoss;
+    private avgValueLoss;
+    private avgEntropy;
+    constructor(config?: Partial<A2CConfig>);
+    /**
+     * Add experience from trajectory
+     */
+    addExperience(trajectory: Trajectory): void;
+    /**
+     * Perform A2C update
+     * Target: <10ms
+     */
+    update(): {
+        policyLoss: number;
+        valueLoss: number;
+        entropy: number;
+    };
+    /**
+     * Get action from policy
+     */
+    getAction(state: Float32Array): {
+        action: number;
+        value: number;
+    };
+    /**
+     * Get statistics
+     */
+    getStats(): Record<string, number>;
+    private evaluate;
+    private forward;
+    private forwardWithHidden;
+    private computeReturns;
+    private computeAdvantages;
+    private computeGAE;
+    private accumulateGradients;
+    private applyGradients;
+    private softmax;
+    private sampleAction;
+    private hashAction;
+}
+/**
+ * Factory function
+ */
+export declare function createA2C(config?: Partial<A2CConfig>): A2CAlgorithm;
+//# sourceMappingURL=a2c.d.ts.map

package/dist/algorithms/a2c.d.ts.map

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package/dist/algorithms/a2c.js

@@ -0,0 +1,361 @@
+/**
+ * Advantage Actor-Critic (A2C)
+ *
+ * Implements synchronous A2C algorithm with:
+ * - Shared actor-critic network
+ * - N-step returns
+ * - Entropy regularization
+ * - Advantage normalization
+ *
+ * Performance Target: <10ms per update step
+ */
+/**
+ * Default A2C configuration
+ */
+export const DEFAULT_A2C_CONFIG = {
+    algorithm: 'a2c',
+    learningRate: 0.0007,
+    gamma: 0.99,
+    entropyCoef: 0.01,
+    valueLossCoef: 0.5,
+    maxGradNorm: 0.5,
+    epochs: 1,
+    miniBatchSize: 32,
+    nSteps: 5,
+    useGAE: true,
+    gaeLambda: 0.95,
+};
+/**
+ * A2C Algorithm Implementation
+ */
+export class A2CAlgorithm {
+    config;
+    // Shared network weights
+    sharedWeights;
+    policyHead;
+    valueHead;
+    // Optimizer state
+    sharedMomentum;
+    policyMomentum;
+    valueMomentum;
+    // Experience buffer for n-step
+    buffer = [];
+    // Dimensions
+    inputDim = 768;
+    hiddenDim = 64;
+    numActions = 4;
+    // Statistics
+    updateCount = 0;
+    avgPolicyLoss = 0;
+    avgValueLoss = 0;
+    avgEntropy = 0;
+    constructor(config = {}) {
+        this.config = { ...DEFAULT_A2C_CONFIG, ...config };
+        // Initialize network
+        const scale = Math.sqrt(2 / this.inputDim);
+        this.sharedWeights = new Float32Array(this.inputDim * this.hiddenDim);
+        this.policyHead = new Float32Array(this.hiddenDim * this.numActions);
+        this.valueHead = new Float32Array(this.hiddenDim);
+        for (let i = 0; i < this.sharedWeights.length; i++) {
+            this.sharedWeights[i] = (Math.random() - 0.5) * scale;
+        }
+        for (let i = 0; i < this.policyHead.length; i++) {
+            this.policyHead[i] = (Math.random() - 0.5) * 0.1;
+        }
+        for (let i = 0; i < this.valueHead.length; i++) {
+            this.valueHead[i] = (Math.random() - 0.5) * 0.1;
+        }
+        // Initialize momentum
+        this.sharedMomentum = new Float32Array(this.sharedWeights.length);
+        this.policyMomentum = new Float32Array(this.policyHead.length);
+        this.valueMomentum = new Float32Array(this.valueHead.length);
+    }
+    /**
+     * Add experience from trajectory
+     */
+    addExperience(trajectory) {
+        for (const step of trajectory.steps) {
+            const { probs, value, entropy } = this.evaluate(step.stateAfter);
+            const action = this.hashAction(step.action);
+            this.buffer.push({
+                state: step.stateAfter,
+                action,
+                reward: step.reward,
+                value,
+                logProb: Math.log(probs[action] + 1e-8),
+                entropy,
+            });
+        }
+    }
+    /**
+     * Perform A2C update
+     * Target: <10ms
+     */
+    update() {
+        const startTime = performance.now();
+        if (this.buffer.length < this.config.nSteps) {
+            return { policyLoss: 0, valueLoss: 0, entropy: 0 };
+        }
+        // Compute returns and advantages
+        const returns = this.computeReturns();
+        const advantages = this.computeAdvantages(returns);
+        // Initialize gradients
+        const sharedGrad = new Float32Array(this.sharedWeights.length);
+        const policyGrad = new Float32Array(this.policyHead.length);
+        const valueGrad = new Float32Array(this.valueHead.length);
+        let totalPolicyLoss = 0;
+        let totalValueLoss = 0;
+        let totalEntropy = 0;
+        // Process all experiences
+        for (let i = 0; i < this.buffer.length; i++) {
+            const exp = this.buffer[i];
+            const advantage = advantages[i];
+            const return_ = returns[i];
+            // Get current policy and value
+            const { probs, value, hidden } = this.forwardWithHidden(exp.state);
+            const logProb = Math.log(probs[exp.action] + 1e-8);
+            // Policy loss
+            const policyLoss = -logProb * advantage;
+            totalPolicyLoss += policyLoss;
+            // Value loss
+            const valueLoss = (value - return_) ** 2;
+            totalValueLoss += valueLoss;
+            // Entropy
+            let entropy = 0;
+            for (const p of probs) {
+                if (p > 0)
+                    entropy -= p * Math.log(p);
+            }
+            totalEntropy += entropy;
+            // Accumulate gradients
+            this.accumulateGradients(sharedGrad, policyGrad, valueGrad, exp.state, hidden, exp.action, advantage, value - return_);
+        }
+        // Add entropy bonus to policy gradient
+        for (let i = 0; i < policyGrad.length; i++) {
+            policyGrad[i] -= this.config.entropyCoef * totalEntropy / this.buffer.length;
+        }
+        // Apply gradients
+        this.applyGradients(sharedGrad, policyGrad, valueGrad, this.buffer.length);
+        // Clear buffer
+        this.buffer = [];
+        this.updateCount++;
+        this.avgPolicyLoss = totalPolicyLoss / this.buffer.length || 0;
+        this.avgValueLoss = totalValueLoss / this.buffer.length || 0;
+        this.avgEntropy = totalEntropy / this.buffer.length || 0;
+        const elapsed = performance.now() - startTime;
+        if (elapsed > 10) {
+            console.warn(`A2C update exceeded target: ${elapsed.toFixed(2)}ms > 10ms`);
+        }
+        return {
+            policyLoss: this.avgPolicyLoss,
+            valueLoss: this.avgValueLoss,
+            entropy: this.avgEntropy,
+        };
+    }
+    /**
+     * Get action from policy
+     */
+    getAction(state) {
+        const { probs, value } = this.evaluate(state);
+        const action = this.sampleAction(probs);
+        return { action, value };
+    }
+    /**
+     * Get statistics
+     */
+    getStats() {
+        return {
+            updateCount: this.updateCount,
+            bufferSize: this.buffer.length,
+            avgPolicyLoss: this.avgPolicyLoss,
+            avgValueLoss: this.avgValueLoss,
+            avgEntropy: this.avgEntropy,
+        };
+    }
+    // ==========================================================================
+    // Private Methods
+    // ==========================================================================
+    evaluate(state) {
+        const { probs, value } = this.forward(state);
+        let entropy = 0;
+        for (const p of probs) {
+            if (p > 0)
+                entropy -= p * Math.log(p);
+        }
+        return { probs, value, entropy };
+    }
+    forward(state) {
+        // Shared hidden layer
+        const hidden = new Float32Array(this.hiddenDim);
+        for (let h = 0; h < this.hiddenDim; h++) {
+            let sum = 0;
+            for (let i = 0; i < Math.min(state.length, this.inputDim); i++) {
+                sum += state[i] * this.sharedWeights[i * this.hiddenDim + h];
+            }
+            hidden[h] = Math.max(0, sum); // ReLU
+        }
+        // Policy head
+        const logits = new Float32Array(this.numActions);
+        for (let a = 0; a < this.numActions; a++) {
+            let sum = 0;
+            for (let h = 0; h < this.hiddenDim; h++) {
+                sum += hidden[h] * this.policyHead[h * this.numActions + a];
+            }
+            logits[a] = sum;
+        }
+        const probs = this.softmax(logits);
+        // Value head
+        let value = 0;
+        for (let h = 0; h < this.hiddenDim; h++) {
+            value += hidden[h] * this.valueHead[h];
+        }
+        return { probs, value };
+    }
+    forwardWithHidden(state) {
+        const hidden = new Float32Array(this.hiddenDim);
+        for (let h = 0; h < this.hiddenDim; h++) {
+            let sum = 0;
+            for (let i = 0; i < Math.min(state.length, this.inputDim); i++) {
+                sum += state[i] * this.sharedWeights[i * this.hiddenDim + h];
+            }
+            hidden[h] = Math.max(0, sum);
+        }
+        const logits = new Float32Array(this.numActions);
+        for (let a = 0; a < this.numActions; a++) {
+            let sum = 0;
+            for (let h = 0; h < this.hiddenDim; h++) {
+                sum += hidden[h] * this.policyHead[h * this.numActions + a];
+            }
+            logits[a] = sum;
+        }
+        const probs = this.softmax(logits);
+        let value = 0;
+        for (let h = 0; h < this.hiddenDim; h++) {
+            value += hidden[h] * this.valueHead[h];
+        }
+        return { probs, value, hidden };
+    }
+    computeReturns() {
+        const returns = new Array(this.buffer.length).fill(0);
+        let cumReturn = 0;
+        // Bootstrap from last value if not terminal
+        if (this.buffer.length > 0) {
+            cumReturn = this.buffer[this.buffer.length - 1].value;
+        }
+        for (let t = this.buffer.length - 1; t >= 0; t--) {
+            cumReturn = this.buffer[t].reward + this.config.gamma * cumReturn;
+            returns[t] = cumReturn;
+        }
+        return returns;
+    }
+    computeAdvantages(returns) {
+        if (this.config.useGAE) {
+            return this.computeGAE();
+        }
+        // Simple advantage: return - value
+        const advantages = new Array(this.buffer.length).fill(0);
+        for (let i = 0; i < this.buffer.length; i++) {
+            advantages[i] = returns[i] - this.buffer[i].value;
+        }
+        // Normalize
+        const mean = advantages.reduce((a, b) => a + b, 0) / advantages.length;
+        const std = Math.sqrt(advantages.reduce((a, b) => a + (b - mean) ** 2, 0) / advantages.length) + 1e-8;
+        return advantages.map(a => (a - mean) / std);
+    }
+    computeGAE() {
+        const advantages = new Array(this.buffer.length).fill(0);
+        let lastGae = 0;
+        for (let t = this.buffer.length - 1; t >= 0; t--) {
+            const nextValue = t < this.buffer.length - 1
+                ? this.buffer[t + 1].value
+                : 0;
+            const delta = this.buffer[t].reward + this.config.gamma * nextValue - this.buffer[t].value;
+            lastGae = delta + this.config.gamma * this.config.gaeLambda * lastGae;
+            advantages[t] = lastGae;
+        }
+        // Normalize
+        const mean = advantages.reduce((a, b) => a + b, 0) / advantages.length;
+        const std = Math.sqrt(advantages.reduce((a, b) => a + (b - mean) ** 2, 0) / advantages.length) + 1e-8;
+        return advantages.map(a => (a - mean) / std);
+    }
+    accumulateGradients(sharedGrad, policyGrad, valueGrad, state, hidden, action, advantage, valueError) {
+        // Policy gradient
+        for (let h = 0; h < this.hiddenDim; h++) {
+            policyGrad[h * this.numActions + action] += hidden[h] * advantage;
+        }
+        // Value gradient
+        for (let h = 0; h < this.hiddenDim; h++) {
+            valueGrad[h] += hidden[h] * valueError * this.config.valueLossCoef;
+        }
+        // Shared layer gradient (backprop through both heads)
+        for (let h = 0; h < this.hiddenDim; h++) {
+            if (hidden[h] > 0) { // ReLU gradient
+                const policySignal = advantage * this.policyHead[h * this.numActions + action];
+                const valueSignal = valueError * this.valueHead[h] * this.config.valueLossCoef;
+                const totalSignal = policySignal + valueSignal;
+                for (let i = 0; i < Math.min(state.length, this.inputDim); i++) {
+                    sharedGrad[i * this.hiddenDim + h] += state[i] * totalSignal;
+                }
+            }
+        }
+    }
+    applyGradients(sharedGrad, policyGrad, valueGrad, batchSize) {
+        const lr = this.config.learningRate / batchSize;
+        const beta = 0.9;
+        // Apply to shared weights
+        for (let i = 0; i < this.sharedWeights.length; i++) {
+            const grad = Math.max(Math.min(sharedGrad[i], this.config.maxGradNorm), -this.config.maxGradNorm);
+            this.sharedMomentum[i] = beta * this.sharedMomentum[i] + (1 - beta) * grad;
+            this.sharedWeights[i] -= lr * this.sharedMomentum[i];
+        }
+        // Apply to policy head
+        for (let i = 0; i < this.policyHead.length; i++) {
+            const grad = Math.max(Math.min(policyGrad[i], this.config.maxGradNorm), -this.config.maxGradNorm);
+            this.policyMomentum[i] = beta * this.policyMomentum[i] + (1 - beta) * grad;
+            this.policyHead[i] -= lr * this.policyMomentum[i];
+        }
+        // Apply to value head
+        for (let i = 0; i < this.valueHead.length; i++) {
+            const grad = Math.max(Math.min(valueGrad[i], this.config.maxGradNorm), -this.config.maxGradNorm);
+            this.valueMomentum[i] = beta * this.valueMomentum[i] + (1 - beta) * grad;
+            this.valueHead[i] -= lr * this.valueMomentum[i];
+        }
+    }
+    softmax(logits) {
+        const max = Math.max(...logits);
+        const exps = new Float32Array(logits.length);
+        let sum = 0;
+        for (let i = 0; i < logits.length; i++) {
+            exps[i] = Math.exp(logits[i] - max);
+            sum += exps[i];
+        }
+        for (let i = 0; i < exps.length; i++) {
+            exps[i] /= sum;
+        }
+        return exps;
+    }
+    sampleAction(probs) {
+        const r = Math.random();
+        let cumSum = 0;
+        for (let i = 0; i < probs.length; i++) {
+            cumSum += probs[i];
+            if (r < cumSum)
+                return i;
+        }
+        return probs.length - 1;
+    }
+    hashAction(action) {
+        let hash = 0;
+        for (let i = 0; i < action.length; i++) {
+            hash = (hash * 31 + action.charCodeAt(i)) % this.numActions;
+        }
+        return hash;
+    }
+}
+/**
+ * Factory function
+ */
+export function createA2C(config) {
+    return new A2CAlgorithm(config);
+}
+//# sourceMappingURL=a2c.js.map

package/dist/algorithms/a2c.js.map

@@ -0,0 +1 @@
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package/dist/algorithms/curiosity.d.ts

@@ -0,0 +1,82 @@
+/**
+ * Curiosity-Driven Exploration
+ *
+ * Implements intrinsic motivation for exploration:
+ * - Intrinsic Curiosity Module (ICM)
+ * - Random Network Distillation (RND)
+ * - Forward and inverse dynamics models
+ * - Exploration bonus generation
+ *
+ * Performance Target: <5ms per forward pass
+ */
+import type { CuriosityConfig, Trajectory } from '../types.js';
+/**
+ * Default Curiosity configuration
+ */
+export declare const DEFAULT_CURIOSITY_CONFIG: CuriosityConfig;
+/**
+ * Curiosity-Driven Exploration Module
+ */
+export declare class CuriosityModule {
+    private config;
+    private featureEncoder;
+    private forwardModel;
+    private inverseModel;
+    private rndTarget;
+    private rndPredictor;
+    private forwardMomentum;
+    private inverseMomentum;
+    private rndMomentum;
+    private stateDim;
+    private numActions;
+    private intrinsicMean;
+    private intrinsicVar;
+    private updateCount;
+    private avgForwardLoss;
+    private avgInverseLoss;
+    private avgIntrinsicReward;
+    constructor(config?: Partial<CuriosityConfig>);
+    /**
+     * Compute intrinsic reward for a transition
+     */
+    computeIntrinsicReward(state: Float32Array, action: string, nextState: Float32Array): number;
+    /**
+     * Compute ICM-based intrinsic reward (prediction error)
+     */
+    computeICMReward(state: Float32Array, action: string, nextState: Float32Array): number;
+    /**
+     * Compute RND-based intrinsic reward
+     */
+    computeRNDReward(state: Float32Array): number;
+    /**
+     * Update curiosity models from trajectory
+     */
+    update(trajectory: Trajectory): {
+        forwardLoss: number;
+        inverseLoss: number;
+    };
+    /**
+     * Add intrinsic rewards to trajectory
+     */
+    augmentTrajectory(trajectory: Trajectory): Trajectory;
+    /**
+     * Get statistics
+     */
+    getStats(): Record<string, number>;
+    private initWeight;
+    private encodeState;
+    private forwardPredict;
+    private inversePredict;
+    private rndForward;
+    private updateForwardModel;
+    private updateInverseModel;
+    private updateRNDPredictor;
+    private normalizeIntrinsic;
+    private softmax;
+    private hashAction;
+}
+/**
+ * Factory function
+ */
+export declare function createCuriosity(config?: Partial<CuriosityConfig>): CuriosityModule;
+//# sourceMappingURL=curiosity.d.ts.map

package/dist/algorithms/curiosity.d.ts.map

@@ -0,0 +1 @@
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