class controller:
def __init__(self):
print("init")
self.experiments_num = 10
# self.human_sub = rospy.Subscriber("/RW_x_direction", Int16, self.simulate)
self.game = Game()
self.action_human = 0.0
self.action_agent = 0.0
# # self.human_sub = rospy.Subscriber("/rl/hand_action_x", action_msg, self.set_action_human)
# self.human_sub = rospy.Subscriber("/rl/action_x", action_msg, self.set_action_human)
self.agent_sub = rospy.Subscriber("/rl/total_action", action_agent,
self.set_action_agent)
# self.reward_pub = rospy.Publisher('/rl/reward', Int16, queue_size = 10)
self.obs_robot_pub = rospy.Publisher('/rl/game_response',
reward_observation,
queue_size=10,
latch=True)
self.transmit_time_list = []
self.rewards_list = []
self.turn_list = []
self.interaction_time_list = []
self.interaction_training_time_list = []
self.mean_list = []
self.stdev_list = []
self.alpha_values = []
self.policy_loss_list = []
self.value_loss_list = []
self.critics_lr_list = []
self.value_critic_lr_list = []
self.actor_lr_list = []
self.plot_directory = package_path + "/src/plots/"
if not os.path.exists(self.plot_directory):
print("Dir %s was not found. Creating it..." %
(self.plot_directory))
os.makedirs(self.plot_directory)
def set_action_agent(self, action_agent):
self.prev_state = self.game.getState()
self.action_agent = action_agent.action[1]
self.action_human = action_agent.action[0]
self.transmit_time_list.append(rospy.get_rostime().to_sec() -
action_agent.header.stamp.to_sec())
def set_human_agent(self, action_agent):
if action_agent.action != 0.0:
self.action_human = action_agent.action
self.transmit_time_list.append(rospy.get_rostime().to_sec() -
action_agent.header.stamp.to_sec())
def publish_reward_and_observations(self):
h = std_msgs.msg.Header()
h.stamp = rospy.Time.now()
new_obs = reward_observation()
new_obs.header = h
new_obs.observations = self.game.getState()
new_obs.prev_state = self.prev_state
new_obs.final_state = self.game.finished
new_obs.reward = self.game.getReward()
self.obs_robot_pub.publish(new_obs)
def game_loop(self):
first_update = True
global_time = rospy.get_rostime().to_sec()
self.resetGame()
for exp in range(MAX_STEPS + 1):
if self.game.running:
start_interaction_time = time.time()
self.game.experiment = exp
self.turns += 1
state = self.game.getState()
agent_act = self.agent.next_action(state)
tmp_time = time.time()
act_human = self.action_human
while time.time() - tmp_time < action_duration:
exec_time = self.game.play([act_human, agent_act.item()])
reward = self.game.getReward()
next_state = self.game.getState()
done = self.game.finished
episode = [state, reward, agent_act, next_state, done]
self.agent.update_rw_state(episode)
self.total_reward_per_game += reward
self.interaction_time_list.append(time.time() -
start_interaction_time)
# when replay buffer has enough samples update gradient at every turn
if len(self.agent.D) >= BATCH_SIZE:
if first_update:
print("\nStarting updates")
first_update = False
[
alpha, policy_loss, value_loss, critics_lr,
value_critic_lr, actor_lr
] = self.agent.train(sample=episode)
self.alpha_values.append(alpha.item())
self.policy_loss_list.append(policy_loss.item())
self.value_loss_list.append(value_loss.item())
self.critics_lr_list.append(critics_lr)
self.value_critic_lr_list.append(value_critic_lr)
self.actor_lr_list.append(actor_lr)
self.interaction_training_time_list.append(
time.time() - start_interaction_time)
# run "offline_updates_num" offline gradient updates every "UPDATE_INTERVAL" steps
if len(self.agent.D
) >= BATCH_SIZE and exp % UPDATE_INTERVAL == 0:
print(str(offline_updates_num) + " Gradient upadates")
self.game.waitScreen("Training... Please Wait.")
pbar = tqdm(xrange(1, offline_updates_num + 1),
unit_scale=1,
smoothing=0)
for _ in pbar:
[
alpha, policy_loss, value_loss, critics_lr,
value_critic_lr, actor_lr
] = self.agent.train(verbose=False)
self.alpha_values.append(alpha.item())
self.policy_loss_list.append(policy_loss.item())
self.value_loss_list.append(value_loss.item())
self.critics_lr_list.append(critics_lr)
self.value_critic_lr_list.append(value_critic_lr)
self.actor_lr_list.append(actor_lr)
# run trials
mean_score, stdev_score = self.test()
self.mean_list.append(mean_score)
self.stdev_list.append(stdev_score)
self.resetGame()
else:
self.turn_list.append(self.turns)
self.rewards_list.append(self.total_reward_per_game)
# reset game
self.resetGame()
self.save_and_plot_stats()
print(
"Average Execution time per interaction: %f milliseconds(stdev: %f). \n"
% (mean(self.interaction_time_list) * 1e3,
stdev(self.interaction_time_list) * 1e3))
print(
"Average Execution time per interaction and online update: %f milliseconds(stdev: %f). \n"
% (mean(self.interaction_training_time_list) * 1e3,
stdev(self.interaction_training_time_list) * 1e3))
print("Total time of experiments is: %d minutes and %d seconds.\n" %
((rospy.get_rostime().to_sec() - global_time) / 60,
(rospy.get_rostime().to_sec() - global_time) % 60))
self.game.endGame()
def test(self):
score_list = []
for game in range(test_num):
score = 200
self.resetGame("Testing Model. Trial %d of %d." %
(game + 1, test_num))
while self.game.running:
self.game.experiment = "Test: " + str(game + 1)
state = self.game.getState()
agent_act = self.agent.next_action(
state, stochastic=False) # take only the mean
# print(agent_act)
tmp_time = time.time()
while time.time() - tmp_time < 0.2:
exec_time = self.game.play(
[self.action_human,
agent_act.item()],
total_games=test_num)
score -= 1
score_list.append(score)
return [mean(score_list), stdev(score_list)]
def resetGame(self, msg=None):
wait_time = 3
self.game.waitScreen(msg1="Put Right Wrist on starting point.",
msg2=msg,
duration=wait_time)
self.game = Game()
self.action_human = 0.0
self.action_agent = 0.0
self.game.start_time = time.time()
self.total_reward_per_game = 0
self.turns = 0
def save_and_plot_stats(self):
np.savetxt(self.plot_directory + 'alpha_values.csv',
self.alpha_values,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'policy_loss.csv',
self.policy_loss_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'value_loss.csv',
self.value_loss_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rewards_list.csv',
self.rewards_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'turn_list.csv',
self.turn_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'means.csv',
self.mean_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'stdev.csv',
self.stdev_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'critics_lr_list.csv',
self.critics_lr_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'value_critic_lr_list.csv',
self.value_critic_lr_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'actor_lr_list.csv',
self.actor_lr_list,
delimiter=',',
fmt='%f')
plot(range(len(self.alpha_values)),
self.alpha_values,
"alpha_values",
'Alpha Value',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(len(self.policy_loss_list)),
self.policy_loss_list,
"policy_loss",
'Policy loss',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(len(self.value_loss_list)),
self.value_loss_list,
"value_loss_list",
'Value loss',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(len(self.rewards_list)),
self.rewards_list,
"Rewards_per_game",
'Total Rewards per Game',
'Number of Games',
self.plot_directory,
save=True)
plot(range(len(self.turn_list)),
self.turn_list,
"Steps_per_game",
'Turns per Game',
'Number of Games',
self.plot_directory,
save=True)
plot(range(len(self.critics_lr_list)),
self.critics_lr_list,
"critics_lr_list",
'Critic lr',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(len(self.value_critic_lr_list)),
self.value_critic_lr_list,
"value_critic_lr_list",
'Value lr',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(len(self.actor_lr_list)),
self.actor_lr_list,
"actor_lr_list",
'Actor lr',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(UPDATE_INTERVAL, MAX_STEPS + UPDATE_INTERVAL,
UPDATE_INTERVAL),
self.mean_list,
"trials",
'Tests Score',
'Number of Interactions',
self.plot_directory,
save=True,
variance=True,
stdev=self.stdev_list)
class controller:
def __init__(self):
# print("init")
self.game = Game() # initialize a turtle game instance
self.agent = SAC() # initialize a soft actor critic agent
"""
initialize human & agent actions
"""
self.action_human = 0.0
self.action_agent = 0.0
"""
Create subscribers for human action
act_human_sub_y is for the case that the agent's action is not used
"""
self.act_human_sub = rospy.Subscriber("/rl/action_x", action_msg,
self.set_human_action)
self.act_human_sub_y = rospy.Subscriber("/rl/action_y", action_msg,
self.set_human_action_y)
"""
Create publishers for turtle's acceleration, agent's action,
robot reset signal and turtle's position on x axis
"""
self.turtle_accel_pub = rospy.Publisher("/rl/turtle_accel",
Float32,
queue_size=10)
self.act_agent_pub = rospy.Publisher("/rl/action_y",
action_msg,
queue_size=10)
self.reset_robot_pub = rospy.Publisher("/robot_reset",
Int16,
queue_size=1)
self.turtle_state_pub = rospy.Publisher("/rl/turtle_pos_X",
Int16,
queue_size=10)
"""
Initialize statistics lists
"""
self.transmit_time_list = []
self.agent_act_list = []
self.human_act_list = []
self.action_timesteps = []
self.exec_time_list = []
self.act_human_list = []
self.real_act_list = []
self.time_real_act_list = []
self.time_turtle_pos = []
self.time_turtle_vel = []
self.time_turtle_acc = []
self.exec_time = None
self.action_human_timestamp = 0
self.human_action_delay_list = []
self.used_human_act_list = []
self.used_human_act_time_list = []
self.position_timesteps = []
self.fps_list = []
self.action_human_y = 0
self.human_act_list_total = []
self.agent_act_list_total = []
self.interaction_counter = 0
self.iter_num = 0
self.run_num = 1
"""
Initialize RL lists
"""
self.rewards_list = []
self.turn_list = []
self.interaction_time_list = []
self.interaction_training_time_list = []
self.mean_list = []
self.stdev_list = []
self.alpha_values = []
self.policy_loss_list = []
self.value_loss_list = []
self.q_loss_list = []
self.critics_lr_list = []
self.value_critic_lr_list = []
self.actor_lr_list = []
self.trials_list = []
"""
Initialize turtle's monitoring lists
"""
self.turtle_pos_x = []
self.turtle_vel_x = []
self.turtle_acc_x = []
self.turtle_pos_y = []
self.turtle_vel_y = []
self.turtle_acc_y = []
self.turtle_pos_x_dict = {}
"""
Initialize Paths & Dirs
"""
rospack = rospkg.RosPack()
package_path = rospack.get_path("collaborative_games")
self.plot_directory = package_path + "/src/plots/" + control_mode + "/"
if not os.path.exists(self.plot_directory):
print("Dir %s was not found. Creating it..." %
(self.plot_directory))
os.makedirs(self.plot_directory)
exp_num = 1
while 1:
if os.path.exists(self.plot_directory + "Experiment_" +
str(exp_num) + "/"):
exp_num += 1
else:
self.plot_directory += "Experiment_" + str(exp_num) + "/"
os.makedirs(self.plot_directory)
break
if not os.path.exists(self.plot_directory + 'rl_dynamics/'):
print("Dir %s was not found. Creating it..." %
(self.plot_directory + 'rl_dynamics/'))
os.makedirs(self.plot_directory + 'rl_dynamics/')
# if not os.path.exists(self.plot_directory + "turtle_dynamics/"):
# print("Dir %s was not found. Creating it..." %(self.plot_directory + 'turtle_dynamics/'))
# os.makedirs(self.plot_directory + 'turtle_dynamics/')
def set_human_action(self, action_human):
"""
Gets the human action from the publisher.
"""
if action_human.action != 0.0:
self.action_human = action_human.action
self.action_human_timestamp = action_human.header.stamp.to_sec()
self.time_real_act_list.append(self.action_human_timestamp)
self.real_act_list.append(self.action_human)
self.transmit_time_list.append(rospy.get_rostime().to_sec() -
action_human.header.stamp.to_sec())
def set_human_action_y(self, action_human):
"""
Gets the human action from the publisher.
"""
if action_human.action != 0.0:
self.action_human_y = action_human.action
def game_loop(self):
"""
The main loop of the Collaborative Game.
This loop contains the training and the testing for the collaborative game experiment
"""
first_update = True
global_time = rospy.get_rostime().to_sec()
# Run a testing session before starting training
self.reset_lists()
# score_list = self.test()
# self.mean_list.append(mean(score_list))
# self.stdev_list.append(stdev(score_list))
# self.trials_list.append(score_list)
# Run trials
self.resetGame()
self.interaction_counter = 0
for exp in range(MAX_STEPS + 1):
self.check_goal_reached()
if self.game.running: # checks if the game has not finished yet
self.interaction_counter += 1
start_interaction_time = time.time()
self.game.experiment = exp
self.turns += 1
state = self.getState()
# checks if agent or human controls the y axis
if use_agent:
agent_act = self.agent.next_action(state)
else:
agent_act = self.action_human_y
self.turtle_state_pub.publish(state[2])
self.publish_agent_action(agent_act)
tmp_time = time.time()
act_human = self.action_human # self.action_human is changing while the loop is running
human_act_timestamp = self.action_human_timestamp
self.used_human_act_list.append(act_human)
self.used_human_act_time_list.append(tmp_time)
"""This loop ensures that an action will be excexuted for the ACTION_DURATION"""
count = 0
while ((time.time() - tmp_time) <
action_duration) and self.game.running:
count += 1
# control mode is "accel" or "vel"
self.exec_time = self.game.play(
[act_human, agent_act.item()],
control_mode=control_mode)
self.human_action_delay_list.append(time.time() -
human_act_timestamp)
# exec_time = self.game.play([act_human, 0],control_mode=control_mode)
self.agent_act_list.append(agent_act.item())
self.human_act_list.append(act_human)
self.action_timesteps.append(tmp_time)
self.save_stats()
self.check_goal_reached()
# print count
""" Retrive RLself.information."""
reward = self.getReward()
next_state = self.getState()
done = self.game.finished
episode = [state, reward, agent_act, next_state, done]
self.agent.update_rw_state(episode)
self.total_reward_per_game += reward
self.interaction_time_list.append(time.time() -
start_interaction_time)
# when replay buffer has enough samples update gradient at every turn
if first_update and len(
self.agent.D) >= BATCH_SIZE and exp > UPDATE_START:
if first_update:
print("\nStarting updates")
first_update = False
if use_agent:
[
alpha, policy_loss, value_loss, q_loss, critics_lr,
value_critic_lr, actor_lr
] = self.agent.train(sample=episode)
self.save_rl_data(alpha, policy_loss, value_loss,
q_loss, critics_lr, value_critic_lr,
actor_lr)
self.interaction_training_time_list.append(
time.time() - start_interaction_time)
# run "offline_updates_num" offline gradient updates every "UPDATE_INTERVAL" steps
elif not first_update and len(
self.agent.D
) >= BATCH_SIZE and exp % UPDATE_INTERVAL == 0:
print(str(offline_updates_num) + " Gradient upadates")
self.game.waitScreen("Training... Please Wait.")
pbar = tqdm(xrange(1, offline_updates_num + 1),
unit_scale=1,
smoothing=0)
for _ in pbar:
if use_agent:
[
alpha, policy_loss, value_loss, q_loss,
critics_lr, value_critic_lr, actor_lr
] = self.agent.train(verbose=False)
self.interaction_training_time_list.append(
time.time() - start_interaction_time)
self.save_rl_data(alpha, policy_loss, value_loss,
q_loss, critics_lr,
value_critic_lr, actor_lr)
# # run testing trials
self.reset_lists()
score_list = self.test()
self.mean_list.append(mean(score_list))
self.stdev_list.append(stdev(score_list))
self.trials_list.append(score_list)
self.resetGame()
else: #the game has finished
self.save_and_plot_stats_environment(self.run_num)
self.run_num += 1
self.turn_list.append(self.turns)
self.rewards_list.append(self.total_reward_per_game)
# reset game
self.resetGame()
self.save_and_plot_stats_rl()
print(
"Average Human Action Transmission time per interaction: %f milliseconds(stdev: %f). \n"
% (mean(self.transmit_time_list) * 1e3,
stdev(self.transmit_time_list) * 1e3))
print(
"Average Execution time per interaction: %f milliseconds(stdev: %f). \n"
% (mean(self.interaction_time_list) * 1e3,
stdev(self.interaction_time_list) * 1e3))
if use_agent:
print(
"Average Execution time per interaction and online update: %f milliseconds(stdev: %f). \n"
% (mean(self.interaction_training_time_list) * 1e3,
stdev(self.interaction_training_time_list) * 1e3))
print("Total time of experiments is: %d minutes and %d seconds.\n" %
((rospy.get_rostime().to_sec() - global_time) / 60,
(rospy.get_rostime().to_sec() - global_time) % 60))
self.game.endGame()
def test(self):
""" Performs the testing. The average value of the policy is used as the action and no sampling is being performed."""
score_list = []
self.iter_num += 1
for game in range(test_num):
score = INTER_NUM
self.resetGame("Testing Model. Trial %d of %d." %
(game + 1, test_num))
self.interaction_counter = 0
while self.game.running:
self.interaction_counter += 1
self.game.experiment = "Test: " + str(game + 1)
state = self.getState()
if use_agent:
agent_act = self.agent.next_action(
state, stochastic=False) # take only the mean
else:
agent_act = self.action_human_y
act_human = self.action_human
tmp_time = time.time()
self.agent_act_list.append(agent_act.item())
self.human_act_list.append(act_human)
self.action_timesteps.append(tmp_time)
# print(agent_act)
self.publish_agent_action(agent_act)
while ((time.time() - tmp_time) <
action_duration) and self.game.running:
self.exec_time = self.game.play(
[act_human, agent_act.item()],
total_games=test_num,
control_mode=control_mode)
self.save_stats()
self.check_goal_reached()
score -= 1
self.check_goal_reached()
score_list.append(score)
self.save_and_plot_stats_environment("Test_" + str(self.iter_num) +
"_" + str(game))
return score_list
def save_stats(self):
"""Saves all the turtle-potition-relevant statistics for later analysis."""
self.turtle_accel_pub.publish(self.game.accel_x)
self.turtle_pos_x.append(self.game.real_turtle_pos[0])
self.turtle_pos_y.append(self.game.real_turtle_pos[1])
self.time_turtle_pos.append(rospy.get_rostime().to_sec())
self.turtle_vel_x.append(self.game.vel_x)
self.turtle_vel_y.append(self.game.vel_y)
self.time_turtle_vel.append(rospy.get_rostime().to_sec())
self.turtle_acc_x.append(self.game.accel_x)
self.turtle_acc_y.append(self.game.accel_y)
self.time_turtle_acc.append(rospy.get_rostime().to_sec())
self.fps_list.append(self.game.current_fps)
self.turtle_pos_x_dict[self.game.turtle_pos[0]] = self.exec_time
self.exec_time_list.append(self.exec_time)
def getReward(self):
"""Calculates the reward for the SAC agent"""
if self.game.finished:
if self.game.timedOut and REWARD_TYPE == "penalty":
return -50
else:
return 100
else:
return -1
def getState(self):
"""Returns the state of the turtle game."""
return [
self.game.accel_x, self.game.accel_y, self.game.turtle_pos[0],
self.game.turtle_pos[1], self.game.vel_x, self.game.vel_y
]
def check_goal_reached(self, name="turtle"):
"""Checks if the goal of the turtle game has been reached."""
if name is "turtle":
if self.game.time_dependend and (
self.interaction_counter % INTER_NUM
== 0) and self.interaction_counter != 0:
self.game.running = 0
self.game.exitcode = 1
self.game.timedOut = True
self.game.finished = True
self.interaction_counter = 0
# if self.game.width - 40 > self.game.turtle_pos[0] > self.game.width - (80 + 40) \
# and 20 < self.game.turtle_pos[1] < (80 + 60 / 2 - 32):
# if (self.game.width - 160) <= self.game.turtle_pos[0] <= (self.game.width - 60 - 64) and 40 <= self.game.turtle_pos[1] <= (140 - 64):
# self.game.running = 0
# self.game.exitcode = 1
# self.game.finished = True # This means final state achieved
# self.interaction_counter = 0
if (self.game.width - 160) <= self.game.turtle_pos[0] + 32 <= (
self.game.width -
60) and 40 <= self.game.turtle_pos[1] + 32 <= 140:
self.game.running = 0
self.game.exitcode = 1
self.game.finished = True # This means final state achieved
self.interaction_counter = 0
def resetGame(self, msg=None):
"""Resets the Turtle Game."""
wait_time = 3
# self.reset_robot_pub.publish(1)
self.game.waitScreen(msg1="Put Right Wrist on starting point.",
msg2=msg,
duration=wait_time)
self.game = Game()
self.TIME = ACTION_DURATION * INTER_NUM
self.action_human = 0.0
self.game.start_time = time.time()
self.total_reward_per_game = 0
self.turns = 0
# self.reset_robot_pub.publish(1)
def save_and_plot_stats_rl(self):
"""Saves & plots all the rl-relevant statistics for later analysis."""
np.savetxt(self.plot_directory + 'rl_dynamics/' + 'alpha_values.csv',
self.alpha_values,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' + 'policy_loss.csv',
self.policy_loss_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' + 'value_loss.csv',
self.value_loss_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' + 'q_loss.csv',
self.q_loss_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' + 'rewards_list.csv',
self.rewards_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' + 'turn_list.csv',
self.turn_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' + 'means.csv',
self.mean_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' + 'stdev.csv',
self.stdev_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' +
'critics_lr_list.csv',
self.critics_lr_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' +
'value_critic_lr_list.csv',
self.value_critic_lr_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' + 'actor_lr_list.csv',
self.actor_lr_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'rl_dynamics/' + 'trials_list.csv',
self.trials_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'agent_act_list_total.csv',
self.agent_act_list_total,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'human_act_list_total.csv',
self.human_act_list_total,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'human_action_delay_list.csv',
self.human_action_delay_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + 'fps_list.csv',
self.fps_list,
delimiter=',',
fmt='%f')
plot_hist(self.fps_list, self.plot_directory,
'fps_list_' + str(self.game.fps))
np.savetxt(self.plot_directory + 'exec_time_list.csv',
self.exec_time_list,
delimiter=',',
fmt='%f')
plot(range(len(self.alpha_values)),
self.alpha_values,
"alpha_values",
'Alpha Value',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(len(self.policy_loss_list)),
self.policy_loss_list,
"policy_loss",
'Policy loss',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(len(self.value_loss_list)),
self.value_loss_list,
"value_loss_list",
'Value loss',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(len(self.rewards_list)),
self.rewards_list,
"Rewards_per_game",
'Total Rewards per Game',
'Number of Games',
self.plot_directory,
save=True)
plot(range(len(self.turn_list)),
self.turn_list,
"Steps_per_game",
'Turns per Game',
'Number of Games',
self.plot_directory,
save=True)
plot(range(len(self.critics_lr_list)),
self.critics_lr_list,
"critics_lr_list",
'Critic lr',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(len(self.value_critic_lr_list)),
self.value_critic_lr_list,
"value_critic_lr_list",
'Value lr',
'Number of Gradient Updates',
self.plot_directory,
save=True)
plot(range(len(self.actor_lr_list)),
self.actor_lr_list,
"actor_lr_list",
'Actor lr',
'Number of Gradient Updates',
self.plot_directory,
save=True)
try:
plot(range(UPDATE_INTERVAL, MAX_STEPS + UPDATE_INTERVAL,
UPDATE_INTERVAL),
self.mean_list,
"trials",
'Tests Score',
'Number of Interactions',
self.plot_directory,
save=True,
variance=True,
stdev=self.stdev_list)
except:
print("Trials did not ploted")
plot_hist(self.agent_act_list_total,
self.plot_directory + 'agent_act_hist_total',
'Agent Action Histogram')
plot_hist(self.human_act_list_total,
self.plot_directory + 'human_act_hist_total',
'Human Action Histogram')
# human_action_delay_list_new = [elem for elem in self.human_action_delay_list if elem <0.8] # remove outliers caused by saving and plotting functions
plot_hist(self.human_action_delay_list,
self.plot_directory + 'human_action_delay_list',
'Human Action Delay Histogram')
def save_and_plot_stats_environment(self, run_num):
"""Saves all environment-relevant statistics for later analysis."""
run_subfolder = "game_" + str(run_num) + "/"
os.makedirs(self.plot_directory + run_subfolder + "turtle_dynamics/")
self.exp_details()
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'agent_act_list.csv',
self.agent_act_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'human_act_list.csv',
self.human_act_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'action_timesteps.csv',
self.action_timesteps,
delimiter=',',
fmt='%f')
human_act_list = np.genfromtxt(self.plot_directory + run_subfolder +
"turtle_dynamics/" +
'human_act_list.csv',
delimiter=',')
agent_act_list = np.genfromtxt(self.plot_directory + run_subfolder +
"turtle_dynamics/" +
'agent_act_list.csv',
delimiter=',')
plot_hist(
agent_act_list, self.plot_directory + run_subfolder +
"turtle_dynamics/" + 'agent_act_hist_'
"game_" + str(run_num), 'Agent Action Histogram')
plot_hist(
human_act_list, self.plot_directory + run_subfolder +
"turtle_dynamics/" + 'human_act_hist_'
"game_" + str(run_num), 'Human Action Histogram')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'turtle_pos_x.csv',
self.turtle_pos_x,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'turtle_pos_y.csv',
self.turtle_pos_y,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'time_turtle_pos.csv',
self.time_turtle_pos,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'turtle_vel_x.csv',
self.turtle_vel_x,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'turtle_vel_y.csv',
self.turtle_vel_y,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'time_turtle_vel.csv',
self.time_turtle_vel,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'turtle_accel_x.csv',
self.turtle_acc_x,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'turtle_accel_y.csv',
self.turtle_acc_y,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'time_turtle_acc.csv',
self.time_turtle_acc,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'real_act_list.csv',
self.real_act_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'time_real_act_list.csv',
self.time_real_act_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'used_human_act_list.csv',
self.used_human_act_list,
delimiter=',',
fmt='%f')
np.savetxt(self.plot_directory + run_subfolder + "turtle_dynamics/" +
'used_human_act_time_list.csv',
self.used_human_act_time_list,
delimiter=',',
fmt='%f')
subplot(self.plot_directory + run_subfolder + "turtle_dynamics/",
self.turtle_pos_x, self.turtle_vel_x, self.turtle_acc_x,
self.time_turtle_pos, self.time_turtle_vel,
self.time_turtle_acc, human_act_list, self.action_timesteps,
"x", control_mode)
subplot(self.plot_directory + run_subfolder + "turtle_dynamics/",
self.turtle_pos_y, self.turtle_vel_y, self.turtle_acc_y,
self.time_turtle_pos, self.time_turtle_vel,
self.time_turtle_acc, agent_act_list, self.action_timesteps,
"y", control_mode)
plt.figure("Real_Human_Actions_Comparison", figsize=(25, 10))
plt.grid()
plt.ylabel('Human Actions')
plt.xlabel('Msg Timestamp(seconds)')
# plt.xticks(plt.xticks(np.arange(min(min(time_real_act_list),min(self.used_human_act_time_list)), max(max(time_real_act_list),max(used_human_act_time_list)), 1)))
plt.scatter(self.time_real_act_list, self.real_act_list)
plt.scatter(self.used_human_act_time_list, self.used_human_act_list)
plt.savefig(self.plot_directory + run_subfolder +
"human_real_action_comparison",
dpi=150)
self.reset_lists()
def publish_agent_action(self, agent_act):
"""Publishes Agent's action."""
h = std_msgs.msg.Header()
h.stamp = rospy.Time.now()
act = action_msg()
act.action = agent_act
act.header = h
self.act_agent_pub.publish(act)
def reset_lists(self):
"""Reseting funstion for the list."""
self.human_act_list_total.extend(self.human_act_list)
self.agent_act_list_total.extend(self.agent_act_list)
self.agent_act_list = []
self.human_act_list = []
self.action_timesteps = []
self.turtle_pos_x = []
self.turtle_pos_y = []
self.time_turtle_pos = []
self.turtle_vel_x = []
self.turtle_vel_y = []
self.time_turtle_vel = []
self.turtle_acc_x = []
self.turtle_acc_y = []
self.time_turtle_acc = []
self.real_act_list = []
self.time_real_act_list = []
self.used_human_act_list = []
self.used_human_act_time_list = []
def save_rl_data(self, alpha, policy_loss, value_loss, q_loss, critics_lr,
value_critic_lr, actor_lr):
"""RL data saver."""
self.alpha_values.append(alpha.item())
self.policy_loss_list.append(policy_loss.item())
self.value_loss_list.append(value_loss.item())
self.q_loss_list.append(q_loss.item())
self.critics_lr_list.append(critics_lr)
self.value_critic_lr_list.append(value_critic_lr)
self.actor_lr_list.append(actor_lr)
def exp_details(self):
"""Keeps track of the experiment details & saves them for later reference at the experiment."""
exp_details = {}
exp_details["MAX_STEPS"] = MAX_STEPS
exp_details["CONTROL_MODE"] = CONTROL_MODE
exp_details["ACCEL_RATE"] = ACCEL_RATE
exp_details["ACTION_DURATION"] = ACTION_DURATION
exp_details["BATCH_SIZE"] = BATCH_SIZE
exp_details["REPLAY_SIZE"] = REPLAY_SIZE
exp_details["OFFLINE_UPDATES"] = OFFLINE_UPDATES
exp_details["UPDATE_START"] = UPDATE_START
csv_file = "exp_details.csv"
try:
w = csv.writer(open(self.plot_directory + csv_file, "w"))
for key, val in exp_details.items():
w.writerow([key, val])
except IOError:
print("I/O error")
