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")