def get_diagnostics(self, paths, prefix=''):
statistics = OrderedDict()
for stat_name in [
'touch_distance',
'hand_success',
'obj_success',
'hand_and_obj_success',
'touch_success',
'hand_distance',
'obj_distance',
'hand_and_obj_distance',
'total_pickups',
]:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(create_stats_ordered_dict(
'Final %s%s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
return statistics
def get_diagnostics(self, paths, prefix=''):
statistics = OrderedDict()
stat_names = [
'hand_success',
'obj_success',
'hand_and_obj_success',
'hand_distance',
'obj_distance',
'obj_distance0',
'hand_and_obj_distance',
'total_pickups',
'obj_x0', 'obj_y0', 'obj_z0',
'mujoco_exception_raised', 'flying_object',
]
if self.two_obj:
stat_names.append('obj_distance1')
stat_names.append('obj_x1')
stat_names.append('obj_y1')
stat_names.append('obj_z1')
for stat_name in stat_names:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(create_stats_ordered_dict(
'Final %s%s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
return statistics
def get_diagnostics(self, paths, prefix=''):
statistics = OrderedDict()
for stat_name in [
'radius',
'target_position',
'distance_to_target',
'velocity',
'speed',
'is_success',
]:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(
create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(
create_stats_ordered_dict(
'Final %s%s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
return statistics
def log_diagnostics(self, paths, logger=None, prefix=""):
if logger is None:
return
statistics = OrderedDict()
for stat_name in [
'hand_distance',
'puck_distance',
'touch_distance',
'success',
]:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(
create_stats_ordered_dict(
'%s %s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(
create_stats_ordered_dict(
'Final %s %s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
for key, value in statistics.items():
logger.record_tabular(key, value)
def get_diagnostics(self, paths, prefix=''):
statistics = OrderedDict()
stat_names = [
'opt_func_loss',
'opt_grad_norm',
'opt_v_value',
'opt_v_value_min',
'opt_v_value_sum',
'opt_realistic_subgoal_rew',
'init_opt_func_loss',
'init_opt_grad_norm',
'init_opt_v_value',
'init_opt_v_value_min',
'init_opt_v_value_sum',
'init_opt_realistic_subgoal_rew',
'opt_func_calls',
'opt_num_iters',
'opt_stopped',
]
for stat_name in stat_names:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'agent_infos', stat_name)
statistics.update(create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
return statistics
def get_diagnostics(self, paths, prefix=''):
statistics = OrderedDict()
# for stat_name in [
# 'touch_distance',
# 'hand_success',
# 'obj_success',
# 'hand_and_obj_success',
# 'touch_success',
# 'hand_distance',
# 'obj_distance',
# 'hand_and_obj_distance',
# 'total_pickups',
# ]: # these are copied from saywer_pickup_and_place.py
for stat_name in [
'ag_state',
'g_state',
'image_dist',
'image_success',
]:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(
create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(
create_stats_ordered_dict(
'Final %s%s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
return statistics
def get_diagnostics(self, paths, prefix=''):
statistics = OrderedDict()
list_of_stat_names = [
'state_diff',
'pos_diff',
'angle_diff',
'pos_angle_diff',
'pos_success',
'angle_success',
]
if self.vel_in_state:
list_of_stat_names.append('velocity_diff')
list_of_stat_names.append('angular_velocity_diff')
for stat_name in list_of_stat_names:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(
create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(
create_stats_ordered_dict(
'Final %s%s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
return statistics
def get_diagnostics(self, paths, prefix=''):
statistics = OrderedDict()
for stat_name in [
'distance_to_target',
'is_success',
]:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(
create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(
create_stats_ordered_dict(
'Final %s%s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
for i, obj in enumerate(self.objects):
stat_name = 'distance_to_target_obj_{}'.format(i)
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(
create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(
create_stats_ordered_dict(
'Final %s%s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
return statistics
def get_diagnostics(self, paths, **kwargs):
statistics = self.wrapped_env.get_diagnostics(paths, **kwargs)
for stat_name_in_paths in ["image_dist", "image_success"]:
stats = get_stat_in_paths(paths, 'env_infos', stat_name_in_paths)
statistics.update(create_stats_ordered_dict(
stat_name_in_paths,
stats,
always_show_all_stats=True,
))
final_stats = [s[-1] for s in stats]
statistics.update(create_stats_ordered_dict(
"Final " + stat_name_in_paths,
final_stats,
always_show_all_stats=True,
))
return statistics
def get_diagnostics(self, paths, prefix=''):
statistics = OrderedDict()
for stat_name in ['angle_difference', 'angle_success']:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(
create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(
create_stats_ordered_dict(
'Final %s%s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
return statistics
def get_diagnostics(self, paths, prefix=''):
statistics = OrderedDict()
for stat_name in [
obj_name + '_distance' for obj_name in self._object_names
]:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(
create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(
create_stats_ordered_dict(
'Final %s%s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
return statistics
def get_diagnostics(self, paths, prefix=""):
statistics = collections.OrderedDict()
stats = ['hand_distance']
for i in range(self.puck_count):
stats += [
'puck{}_distance'.format(i),
'touch{}_distance'.format(i),
]
for stat_name in stats:
stat_name = stat_name
stat = get_stat_in_paths(paths, 'env_infos', stat_name)
statistics.update(
create_stats_ordered_dict(
'%s%s' % (prefix, stat_name),
stat,
always_show_all_stats=True,
))
statistics.update(
create_stats_ordered_dict(
'Final %s%s' % (prefix, stat_name),
[s[-1] for s in stat],
always_show_all_stats=True,
))
return statistics