smbot/main.lua

-- hacks for FCEUX being dumb.
local _error = error
local _assert = assert
local function error_(msg, level)
    if level == nil then level = 1 end
    print()
    print(debug.traceback(msg, 1 + level):gsub("\n", "\r\n"))
    _error(msg, level)
end
local function assert_(cond, msg)
    if cond then return cond end
    msg = msg or "nondescript"
    print()
    print(debug.traceback(msg, 2):gsub("\n", "\r\n"))
    _error("assertion failed!")
end
rawset(_G, 'error', error_)
rawset(_G, 'assert', assert_)

-- be strict about globals.
local mt = getmetatable(_G)
if mt == nil then mt = {} setmetatable(_G, mt) end
function mt.__newindex(t, n, v) error("cannot assign undeclared global '" .. tostring(n) .. "'", 2) end
function mt.__index(t, n) error("cannot use undeclared global '" .. tostring(n) .. "'", 2) end
local function globalize(t) for k, v in pairs(t) do rawset(_G, k, v) end end

-- configuration.

--randomseed(11)

local playable_mode = false
--
-- true greedy epsilon has both deterministic and det_epsilon set.
local deterministic = true -- use argmax on outputs instead of random sampling.
local det_epsilon = true -- take random actions with probability eps.
-- using parameters from DQN... sorta.
local eps_start = 1.0 * 1/60 -- i think this should be * 1/16 for atari ref.
local eps_stop  = 0.1 * 1/60 -- "
local eps_frames = 1000000
local consider_past_rewards = false
local learn_start_select = false
--
local epoch_trials = 40 -- 24
local learning_rate = 1e-3
local deviation = 1e-2 -- 4e-3
--
local cap_time = 400
local timer_loser = 1/3
--
local enable_overlay = playable_mode
local enable_network = not playable_mode

local input_size = 281 -- TODO: let the script figure this out for us.

local ok_routines = {
    [0x4] = true, -- sliding down flagpole
    [0x5] = true, -- end of level auto-walk
    [0x7] = true, -- start of level auto-walk
    [0x8] = true, -- normal (in control)
    [0x9] = true, -- acquiring mushroom
    [0xA] = true, -- losing big mario
    [0xB] = true, -- uhh
    [0xC] = true, -- acquiring fireflower
}

local bad_states = {
    power = true,
    waiting_demo = true,
    playing_demo = true,
    unknown = true,
    lose = true,
}

-- state.

local epoch_i = 0
local base_params
local trial_i = 0
local trial_noise = {}
local trial_rewards = {}
local trials_remaining = 0

local trial_frames = 0
local total_frames = 0

local force_start = false
local force_start_old = false

local startsave = savestate.create(1)

local poketime = false
local max_time

local sprite_input = {}
local tile_input = {}
local extra_input = {}

local reward
local all_rewards = {}

local powerup_old
local status_old
local coins_old
local score_old

local once = false
local reset = true

local state_old = ''

-- localize some stuff.

local print = print
local ipairs = ipairs
local pairs = pairs
local select = select
local abs = math.abs
local floor = math.floor
local ceil = math.ceil
local min = math.min
local max = math.max
local exp = math.exp
local log = math.log
local sqrt = math.sqrt
local random = math.random
local randomseed = math.randomseed
local insert = table.insert
local remove = table.remove
local unpack = table.unpack or unpack
local R = memory.readbyteunsigned
local S = memory.readbyte --signed
local W = memory.writebyte

local band = bit.band
local bor = bit.bor
local bxor = bit.bxor
local bnot = bit.bnot
local lshift = bit.lshift
local rshift = bit.rshift
local arshift = bit.arshift
local rol = bit.rol
local ror = bit.ror

-- utilities.

local function boolean_xor(a, b)
    if a and b then return false end
    if not a and not b then return false end
    return true
end

local function clamp(x, l, u) return min(max(x, l), u) end

local function lerp(a, b, t) return a + (b - a) * clamp(t, 0, 1) end

local function argmax(...)
    local max_i = 0
    local max_v = -999999999
    for i=1, select("#", ...) do
        local v = select(i, ...)
        if v > max_v then
            max_i = i
            max_v = v
        end
    end
    return max_i
end

local function argmax2(t)
    return t[1] > t[2]
end

local function rchoice2(t)
    return t[1] > random()
end

local function rbool(t)
    return 0.5 >= random()
end

local function empty(t)
    for k, _ in pairs(t) do t[k] = nil end
    return t
end

local function calc_mean_dev(x)
    local mean = 0
    for i, v in ipairs(x) do
        mean = mean + v / #x
    end

    local dev = 0
    for i, v in ipairs(x) do
        local delta = v - mean
        dev = dev + delta * delta / #x
    end

    return mean, dev
end

local function normalize(x, out)
    out = out or x
    local mean, dev = calc_mean_dev(x)
    if dev <= 0 then dev = 1 end
    local devs = sqrt(dev)
    for i, v in ipairs(x) do out[i] = (v - mean) / devs end
    return out
end

local function normalize_wrt(x, s, out)
    out = out or x
    local mean, dev = calc_mean_dev(s)
    if dev <= 0 then dev = 1 end
    local devs = sqrt(dev)
    for i, v in ipairs(x) do out[i] = (v - mean) / devs end
    return out
end

-- game-agnostic stuff (i.e. the network itself)

package.loaded['nn'] = nil -- DEBUG
local nn = require("nn")

local network
local nn_x
local nn_y
local nn_z
local function make_network(input_size, buttons)
    nn_x = nn.Input(input_size)
    nn_y = nn_x
    nn_z = {}
    if false then
        nn_y = nn_y:feed(nn.Dense(input_size))
        nn_y = nn_y:feed(nn.Gelu())
    else
        nn_y = nn_y:feed(nn.Dense(128))
        nn_y = nn_y:feed(nn.Gelu())
        nn_y = nn_y:feed(nn.Dense(64))
        nn_y = nn_y:feed(nn.Gelu())
        nn_y = nn_y:feed(nn.Dense(48))
        nn_y = nn_y:feed(nn.Gelu())
    end
    for i = 1, buttons do
        nn_z[i] = nn_y
        nn_z[i] = nn_z[i]:feed(nn.Dense(2))
        nn_z[i] = nn_z[i]:feed(nn.Softmax())
    end

    return nn.Model({nn_x}, nn_z)
end

-- and here we go with the game stuff.

--[[
https://gist.githubusercontent.com/1wErt3r/4048722/raw/59e88c0028a58c6d7b9156749230ccac647bc7d4/SMBDIS.ASM
--]]

local rotation_offsets = { -- FIXME: not all of these are pixel-perfect.
    0, -40, -- 0
    6, -38,
    15, -37,
    22, -32,
    28, -28,
    32, -22,
    37, -14,
    39, -6,
    40, 0, -- 8
    38, 7,
    37, 15,
    33, 23,
    27, 29,
    22, 33,
    14, 37,
    6, 39,
    0, 41, -- 10
    -7, 40,
    -16, 38,
    -22, 34,
    -28, 28,
    -34, 23,
    -38, 16,
    -40, 8,
    -40, -0, -- 18
    -40, -6,
    -38, -14,
    -34, -22,
    -28, -28,
    -22, -32,
    -16, -36,
    -8, -38,
}

local function get_timer()
    return R(0x7F8) * 100 + R(0x7F9) * 10 + R(0x7FA)
end

local function get_score()
    return R(0x7DE) * 10000 +
           R(0x7DF) * 1000 +
           R(0x7E0) * 100 +
           R(0x7E1) * 10 +
           R(0x7E2)
end

local function set_timer(time)
    W(0x7F8, floor(time / 100))
    W(0x7F9, floor((time / 10) % 10))
    W(0x7FA, floor(time % 10))
end

local function mark_sprite(x, y, t)
    if x < 0 or x >= 256 or y < 0 or y > 224 then
        sprite_input[#sprite_input+1] = 0
        sprite_input[#sprite_input+1] = 0
        sprite_input[#sprite_input+1] = 0
    else
        sprite_input[#sprite_input+1] = x
        sprite_input[#sprite_input+1] = y
        sprite_input[#sprite_input+1] = t
    end
    if t == 0 then return end
    if enable_overlay then
        gui.box(x-4, y-4, x+4, y+4)
        --gui.text(x-2, y-3, tostring(i), '#FFFFFF', '#00000000')
        gui.text(x-13, y-3-9, ("%+04i"):format(t), '#FFFFFF', '#0000003F')
        --gui.text(x-5, y-3+9, ("%02X"):format(x), '#FFFFFF', '#0000003F')
    end
end

local function mark_tile(x, y, t)
    tile_input[#tile_input+1] = t
    if t == 0 then return end
    if enable_overlay then
        gui.box(x-8, y-8, x+8, y+8)
        gui.text(x-5, y-3, ("%02X"):format(t), '#FFFFFF', '#00000000')
    end
end

local function getxy(i, x_addr, y_addr, pageloc_addr, hipos_addr)
    local spl_l = R(0x71A)
    local spl_r = R(0x71B)
    local sx_l = R(0x71C)
    local sx_r = R(0x71D)

    local x = R(x_addr + i)
    local y = R(y_addr + i)
    local sx, sy = x, y
    if pageloc_addr ~= nil then
        local page = R(pageloc_addr + i)
        sx = sx - sx_l - (spl_l - page) * 256
    else
        sx = sx - sx_l
    end
    if hipos_addr ~= nil then
        local hipos = S(hipos_addr + i)
        sy = sy + (hipos - 1) * 256
    end

    return sx, sy
end

local function paused() return band(R(0x776), 1) end

local function get_state()
    if R(0xE) == 0xFF then return 'power' end
    if R(0x774) > 0 then return 'lagging' end
    if R(0x7A2) > 0 then return 'waiting_demo' end
    if R(0x717) > 0 then return 'playing_demo' end
--  if R(0x770) == 0xFF then return 'power' end
    if paused() ~= 0 then return 'paused' end
    if R(0xE) == 0 then return 'world_screen' end
--  if R(0x712) == 1 then return 'deadmusic' end
    if R(0x7CA) == 0x94 then return 'dead' end
    if R(0xE) == 4 then return 'win_flagpole' end
    if R(0xE) == 5 then return 'win_walking' end
    if R(0xE) == 6 then return 'lose' end
--  if R(0x770) == 0 then return 'not_playing' end
    if R(0x770) == 2 then return 'win_castle' end
    if R(0x772) == 2 then return 'no_control' end
    if R(0x772) == 3 then return 'playing' end
    if R(0x770) == 1 then return 'loading' end
    if R(0x770) == 3 then return 'lose' end
    return 'unknown'
end

local function advance()
    emu.frameadvance()
    while emu.lagged() do emu.frameadvance() end -- skip lag frames.
    while R(0x774) > 0 do emu.frameadvance() end -- also lag frames.
end

while false do
    local state = get_state()
    if state ~= state_old then
        print(emu.framecount(), state)
        state_old = state
    end
    advance()
end

local function handle_enemies()
    -- enemies, flagpole
    for i = 0, 5 do
        local x, y = getxy(i, 0x87, 0xCF, 0x6E, 0xB6)
        x, y = x + 8, y + 16
        local tid = R(0x16 + i)
        local flags = R(0xF + i)
        --local offscr = R(0x3D8 + i)
        local invisible = tid < 0x10 and flags == 0
        if tid == 0x30 then y = y - 8 end -- flagpole flag
        if tid == 0x31 then y = y - 8 end -- castle flag
        if tid == 0x16 then x, y = x - 4, y - 12 end -- fireworks
        if tid >= 0x24 and tid <= 0x29 then x, y = x + 16, y - 12 end -- moving platforms
        if tid == 0x2D then x, y = x, y end -- bowser (TODO: determine head or body)
        if tid == 0x15 then x, y = x, y - 12 end -- bowser fire
        if tid == 0x32 then x, y = x, y - 8 end -- spring
        -- tid == 0x35 -- toad
        if tid == 0x1D or tid == 0x1B then -- rotating fire bars
            x, y = x - 4, y - 12
            -- this is a mess... gotta find out its rotation and then project.
            -- TODO: handle long fire bars too
            local rot = R(0xA0 + i) --* 0x100 + R(0x58 + i)
            gui.text(x-13, y-3+9, ("%04X"):format(rot), '#FFFFFF', '#0000003F')
            local x_off, y_off = rotation_offsets[rot*2+1], rotation_offsets[rot*2+2]
            x, y = x + x_off, y + y_off
        end
        if invisible then
            mark_sprite(0, 0, 0)
        else
            mark_sprite(x, y, tid + 1)
        end
    end
end

local function handle_fireballs()
    -- fireballs
    for i = 0, 1 do
        local x, y = getxy(i, 0x8D, 0xD5, 0x74, 0xBC)
        x, y = x + 4, y + 4
        local state = R(0x24 + i)
        local invisible = state == 0
        if invisible then
            mark_sprite(0, 0, 0)
        else
            mark_sprite(x, y, 257)
        end
    end
end

local function handle_blocks()
    for i = 0, 3 do
        local x, y = getxy(i, 0x8F, 0xD7, 0x76, 0xBE)
        x, y = x + 8, y + 8
        local state = R(0x26 + i)
        local invisible = state == 0
        if invisible then
            mark_sprite(0, 0, 0)
        else
            mark_sprite(x, y, 258)
        end
    end
end

local function handle_hammers()
    -- hammers, coins, score bonus text...
    for i = 0, 8 do
        local x, y = getxy(i, 0x93, 0xDB, 0x7A, 0xC2)
        x, y = x + 8, y + 8
        local state = R(0x2A + i)
        -- skip coin effect states. not interactable; we don't care!
        if state ~= 0
        and state >= 0x30
        then
            mark_sprite(x, y, state + 1)
        else
            mark_sprite(0, 0, 0)
        end
    end
end

local function handle_misc()
    for i = 0, 0 do
        local x, y = getxy(i, 0x9C, 0xE4, 0x83, 0xCB)
        x, y = x + 8, y + 8
        local state = R(0x33 + i)
        if state ~= 0 then
            mark_sprite(x, y, state + 1)
        else
            mark_sprite(0, 0, 0)
        end
    end
end

local function handle_tiles()
    --local tile_col = R(0x6A0)
    local tile_scroll = floor(R(0x73F) / 16) + R(0x71A) * 16
    local tile_scroll_remainder = R(0x73F) % 16
    tile_input[#tile_input+1] = tile_scroll_remainder
    for y = 0, 12 do
        for x = 0, 16 do
            local col = (x + tile_scroll) % 32
            local t
            if col < 16 then
                t = R(0x500 + y * 16 + (col % 16))
            else
                t = R(0x5D0 + y * 16 + (col % 16))
            end
            local sx = x * 16 + 8 - tile_scroll_remainder
            local sy = y * 16 + 40
            mark_tile(sx, sy, t)
        end
    end
end

local function prepare_epoch()
    print('preparing epoch '..tostring(epoch_i)..'. this might take a while.')
    base_params = network:collect()
    empty(trial_noise)
    empty(trial_rewards)
    for i = 1, epoch_trials do
        local noise = nn.zeros(#base_params)
        for j = 1, #base_params do noise[j] = nn.normal() end
        trial_noise[i] = noise
    end
    trial_i = 0
end

local function load_next_trial()
    trial_i = trial_i + 1
    print('loading trial', trial_i)
    local W = nn.copy(base_params)
    local noise = trial_noise[trial_i]
    local devsqrt = sqrt(deviation)
    for i, v in ipairs(base_params) do
        W[i] = v + devsqrt * noise[i]
    end
    network:distribute(W)
end

local function learn_from_epoch()
    print()
    print('rewards:', trial_rewards)

    for _, v in ipairs(trial_rewards) do
        insert(all_rewards, v)
    end

    if consider_past_rewards then
        normalize_wrt(trial_rewards, all_rewards)
    else
        normalize(trial_rewards)
    end
    --print('normalized:', trial_rewards)

    local reward_mean, reward_dev = calc_mean_dev(trial_rewards)

    local step = nn.zeros(#base_params)
    for i = 1, epoch_trials do
        local reward = trial_rewards[i]
        local noise = trial_noise[i]
        for j, v in ipairs(noise) do
            step[j] = step[j] + reward * v
        end
    end

    local magnitude = learning_rate / deviation
    --print('stepping with magnitude', magnitude)
    -- throw the division from the averaging in there too.
    local altogether = magnitude / epoch_trials
    for i, v in ipairs(step) do
        step[i] = altogether * v
    end

    local step_mean, step_dev = calc_mean_dev(step)
    if step_dev < 1e-8 then
        -- we didn't get anywhere. step in a random direction.
        print("stepping randomly.")
        local noise = trial_noise[1]
        local devsqrt = sqrt(deviation)
        for i, v in ipairs(step) do
            step[i] = devsqrt * noise[i]
        end

        step_mean, step_dev = calc_mean_dev(step)
    end
    if abs(step_mean) > 1e-3 then print("step mean:", step_mean) end
    print("step stddev:", step_dev)

    for i, v in ipairs(base_params) do
        base_params[i] = v + step[i]
    end

    if enable_network then
        network:distribute(base_params)
        network:save()
    else
        print("note: not updating weights in playable mode.")
    end

    print()
end

local function do_reset()
    local state = get_state()
    -- be a little more descriptive.
    if state == 'dead' and get_timer() == 0 then state = 'timeup' end
    print("resetting in state: "..state..". reward:", reward)

    if trial_i > 0 then trial_rewards[trial_i] = reward end

    if epoch_i == 0 or trial_i == epoch_trials then
        if epoch_i > 0 then learn_from_epoch() end
        epoch_i = epoch_i + 1
        prepare_epoch()
    end

    -- bit of a hack:
    if get_state() == 'loading' then advance() end
    reward = 0
    powerup_old = R(0x754)
    status_old = R(0x756)
    coins_old = R(0x7ED) * 10 + R(0x7EE)
    score_old = get_score()

    -- set lives to 0. you only got one shot!
    -- unless you get a 1-up, in which case, please continue!
    W(0x75A, 0)

    --max_time = min(log(epoch_i) * 10 + 100, cap_time)
    max_time = min(8 * sqrt(360 / epoch_trials * (epoch_i - 1)) + 100, cap_time)
    max_time = ceil(max_time)

    if once then
        savestate.load(startsave)
        --print("end of trial reward:", reward)
    else
        savestate.save(startsave)
    end
    once = true

    emu.frameadvance() -- prevents emulator from quirking up.

    --print()
    load_next_trial()

    reset = false
end

local function init()
    network = make_network(input_size, learn_start_select and 8 or 6)
    network:reset()
    print("parameters:", network.n_param)

    emu.poweron()
    emu.unpause()
    emu.speedmode("turbo")

    local res, err = pcall(network.load, network)
    if res == false then print(err) end
end

init()

local dummy_softmax_values = {0, 0}

while true do
    gui.text(4, 12, get_state(), '#FFFFFF', '#0000003F')

    while bad_states[get_state()] do
        --gui.text(120, 124, ("%02X"):format(R(0xE)), '#FFFFFF', '#0000003F')
        -- mash the start button until we have control.
        -- TODO: learn this too.
        --local jp = joypad.read(1)
        local jp = {
            up = false,
            down = false,
            left = false,
            right = false,
            A = false,
            B = false,
            select = false,
            start = emu.framecount() % 2 == 1,
        }
        joypad.write(1, jp)

        reset = true

        advance()
        gui.text(4, 12, get_state(), '#FFFFFF', '#0000003F')

        -- bit of a hack:
        while get_state() == "loading" do advance() end
        state_old = get_state()
    end

    if reset then do_reset() end

    if not enable_network then
        -- infinite time cheat. super handy for testing.
        if R(0xE) == 8 then
            set_timer(667)
            poketime = true
        elseif poketime then
            poketime = false
            set_timer(1)
        end

        -- infinite lives.
        W(0x75A, 1)
    end

    empty(sprite_input)
    empty(tile_input)
    empty(extra_input)

    -- player
    -- TODO: check if mario is playable.
    local x, y = getxy(0, 0x86, 0xCE, 0x6D, 0xB5)
    local powerup = R(0x754)
    local status = R(0x756)
    mark_sprite(x + 8, y + 24, -powerup - 1)

    local vx, vy = S(0x57), S(0x9F)
    insert(extra_input, vx)
    insert(extra_input, vy)

    handle_enemies()
    handle_fireballs()
    -- blocks being hit. not interactable; we don't care!
    --handle_blocks()
    handle_hammers()
    handle_misc()
    handle_tiles()

    local ingame_paused = get_state() == "paused"

    local coins = R(0x7ED) * 10 + R(0x7EE)
    local coins_delta = coins - coins_old
    -- handle wrap-around.
    if coins_delta < 0 then coins_delta = 100 + coins - coins_old end
    -- remember that 0 is big mario and 1 is small mario.
    local powerup_delta = powerup_old - powerup
    -- 2 is fire mario.
    local status_delta = clamp(status - status_old, -1, 1)
    local screen_scroll_delta = R(0x775)
    local flagpole_bonus = R(0xE) == 4 and 1 or 0
    --local reward_delta = screen_scroll_delta + status_delta * 256 + flagpole_bonus
    local score_delta = get_score() - score_old
    if score_delta < 0 then score_delta = 0 end
    local reward_delta = screen_scroll_delta + score_delta + flagpole_bonus

    -- TODO: add ingame score to reward.

    if not ingame_paused then reward = reward + reward_delta end

    --gui.text(4, 12, ("%02X"):format(#sprite_input), '#FFFFFF', '#0000003F')
    --gui.text(4, 22, ("%02X"):format(#tile_input), '#FFFFFF', '#0000003F')
    --gui.text(72, 12, ("%+4i"):format(reward_delta), '#FFFFFF', '#0000003F')
    --gui.text(112, 12, ("%+4i"):format(reward), '#FFFFFF', '#0000003F')
    gui.text(96, 16, ("%+4i"):format(reward), '#FFFFFF', '#0000003F')

    if get_state() == 'dead' and state_old ~= 'dead' then
        --print("dead. lives remaining:", R(0x75A, 0))
        if R(0x75A, 0) == 0 then reset = true end
    end
    if get_state() == 'lose' then
        print("ran out of lives.")
        reset = true
    end

    -- lose a point for every frame paused.
    --if ingame_paused then reward = reward - 1 end
    if ingame_paused then reward = reward - 402; reset = true end

    -- every few frames mario stands still, forcibly decrease the timer.
    -- this includes having the game paused.
    -- TODO: more robust. doesn't detect moonwalking against a wall.
    local timer = get_timer()
    if ingame_paused or random() > 1 - timer_loser and R(0x1D) == 0 and R(0x57) == 0 then
        timer = timer - 1
    end
    timer = clamp(timer, 0, max_time)
    if enable_network then
        set_timer(timer)
    end

    -- if we've run out of time while the game is paused...
    -- that's cheating! unpause.
    force_start = ingame_paused and timer == 0

    local X = {} -- TODO: cache.
    for i, v in ipairs(sprite_input) do insert(X, v / 256) end
    for i, v in ipairs(tile_input) do insert(X, v / 256) end
    for i, v in ipairs(extra_input) do insert(X, v / 256) end
    if #X ~= input_size then error("input size should be: "..tostring(#X)) end

    if enable_network and get_state() == 'playing' or ingame_paused then
        local choose = deterministic and argmax2 or rchoice2

        local outputs = network:forward(X)

        -- TODO: predict the *rewards* of all possible actions?
        --       that's how DQN seems to work anyway.
        --       ah, but A3C just returns probabilities,
        --       besides the critic?

        local softmaxed = {
            outputs[nn_z[1]],
            outputs[nn_z[2]],
            outputs[nn_z[3]],
            outputs[nn_z[4]],
            outputs[nn_z[5]],
            outputs[nn_z[6]],
            learn_start_select and outputs[nn_z[7]] or dummy_softmax_values,
            learn_start_select and outputs[nn_z[8]] or dummy_softmax_values,
        }

        local jp = {
            up      = choose(softmaxed[1]),
            down    = choose(softmaxed[2]),
            left    = choose(softmaxed[3]),
            right   = choose(softmaxed[4]),
            A       = choose(softmaxed[5]),
            B       = choose(softmaxed[6]),
            start   = choose(softmaxed[7]),
            select  = choose(softmaxed[8]),
        }

        if det_epsilon then
            local eps = lerp(eps_start, eps_stop, total_frames / eps_frames)
            for k, v in pairs(jp) do
                local ss_ok = k ~= 'start' and k ~= 'select' or learn_start_select
                if random() < eps and ss_ok then jp[k] = rbool() end
            end
        end

        if force_start then
            jp = {
                up      = false,
                down    = false,
                left    = false,
                right   = false,
                A       = false,
                B       = false,
                start   = force_start_old,
                select  = false,
            }
        end

        joypad.write(1, jp)
    end

    coins_old = coins
    powerup_old = powerup
    status_old = status
    force_start_old = force_start
    state_old = get_state()
    score_old = get_score()
    advance()
end