lr = plot.load_exps(
[vitchyr_base_dir + "papers/nips2018/06-06-lr-baseline-pusher-0.2-range/"],
plot.filter_by_flat_params({
'rdim': '16--lr-1e-3',
}),
suppress_output=True,
)
plot.tag_exps(lr, "name", "l&r")
plot.comparison(
#lr + ours + oracle + her + dsae,
ours + oracle + her + lr + dsae,
["Final puck_distance Mean", "Final hand_distance Mean"],
vary=["name"],
smooth=plot.padded_ma_filter(10),
#method_order=[4, 0, 1, 3, 2],
ylim=(0.1, 0.28),
# xlim=(0, 250000),
xlim=(0, 500000),
figsize=(6, 4),
)
plt.gca().xaxis.set_major_formatter(plt.FuncFormatter(format_func))
plt.xlabel("Timesteps")
plt.ylabel("") # "Final Distance to Goal")
plt.title("Visual Pusher Baselines")
plt.legend([]) # [our_method_name, "DSAE", "HER", "Oracle", "L&R", ])
plt.tight_layout()
plt.savefig(output_dir + "pusher_baselines.pdf")
print("File saved to", output_dir + "pusher_baselines.pdf")
offline_pusher = dp.get_trials(
pusher_dir,
criteria={
'rdim':
250,
'algo_kwargs.should_train_vae.$function':
'railrl.torch.vae.vae_schedules.never_train',
})
plt.figure(figsize=(6, 5))
plot.plot_trials(
OrderedDict([
("Online", online_pusher),
("Offline", offline_pusher),
]),
y_keys="Final sum_distance Mean",
x_key="Number of env steps total",
process_time_series=plot.padded_ma_filter(100),
)
plt.gca().xaxis.set_major_formatter(plt.FuncFormatter(format_func))
plt.xlabel("Timesteps")
plt.ylabel("Final Distance to Goal")
plt.title("Visual Pusher, Online Ablation")
lgnd = plt.legend(["Online", "Offline"],
bbox_to_anchor=(0.49, -0.2),
loc="upper center",
ncol=4,
handlelength=1)
plt.tight_layout()
plt.savefig(output_dir + "pusher_online_ablation.pdf")
print("File saved to", output_dir + "pusher_online_ablation.pdf")
})
offline_reacher = dp.get_trials(
reacher_dir,
criteria={
'algo_kwargs.should_train_vae.$function':
'railrl.torch.vae.vae_schedules.never_train',
})
plt.figure(figsize=(6, 5))
plot.plot_trials(
OrderedDict([
("Online", online_reacher),
("Offline", offline_reacher),
]),
y_keys="Final distance Mean",
x_key="Number of env steps total",
process_time_series=plot.padded_ma_filter(10, avg_only_from_left=True),
)
plt.gca().xaxis.set_major_formatter(plt.FuncFormatter(format_func))
plt.xlabel("Timesteps")
plt.ylabel("Final Distance to Goal")
plt.title("Visual Reacher Online Ablation")
plt.legend(["Online", "Offline"],
bbox_to_anchor=(0.49, -0.2),
loc="upper center",
ncol=4,
handlelength=1)
plt.tight_layout()
plt.savefig(output_dir + "reacher_online_ablation.pdf")
print("File saved to", output_dir + "reacher_online_ablation.pdf")
# '/home/vitchyr/git/rlkit/data/doodads3/05-12-sawyer-reach-vae-rl-reproduce-2/',
# criteria={
# 'replay_kwargs.fraction_resampled_goals_are_env_goals': 0.5,
# 'replay_kwargs.fraction_goals_are_rollout_goals': 0.2,
# }
# )
y_keys = [
'Final distance Mean',
]
plot_trials(
{
'State - HER TD3': state_her_td3,
'State - TDM DDPG': state_tdm_ddpg,
'VAE - HER TD3': vae_trials,
# 'VAE - TD3': vae_td3_trials,
},
y_keys=y_keys,
process_time_series=padded_ma_filter(3),
# x_key=x_key,
)
plt.xlabel('Number of Environment Steps Total')
plt.ylabel('Final distance to Goal')
plt.savefig('/home/vitchyr/git/railrl/experiments/vitchyr/nips2018/plots'
'/reach.jpg')
plt.show()
# plt.savefig("/home/ashvin/data/s3doodad/media/plots/pusher2d.pdf")