def ball_cube_hard(path='frontiers2016/objects/hard', rep=4):
nor_diff = {
'exp.path': path,
'exp.prefix': ('dov_hard', ),
'exp.repetitions': rep,
'meta.run_tests': True
}
src_diff = nor_diff
tgt_diff = nor_diff
expcfgs = make_exp([('dov_ball45_0_a20.h', 'dov_ball45_0_a20.h'),
('dov_cube45_0_a20.h', 'dov_ball45_0_a20.h'),
('dov_ball45_0_a20.h', 'dov_cube45_0_a20.h'),
('dov_cube45_0_a20.h', 'dov_cube45_0_a20.h')],
cfg=exp_cfgs.dov_cfg,
nor_diff=nor_diff,
src_diff=src_diff,
tgt_diff=tgt_diff,
src_ex_names=('rmb300.rgb.lwlr.h', ),
nor_ex_names=('rmb300.rgb.lwlr.h', ),
tgt_ex_names=('reuse_300_0.5_40_lwlr.h', ))
# one repetion of the ball -> cube experiment got its data corrupted.
for nor_cfg, src_cfg, tgt_cfg in expcfgs:
src_env_name = tgt_cfg.exp.prefix[2]
tgt_env_name = tgt_cfg.exploration.env_name
if (src_env_name, tgt_env_name) == ('dov_ball45_0_a20.h',
'dov_cube45_0_a20.h'):
tgt_cfg.exp.repetitions = 3
return expcfgs
def rgap(src_env='dov_ball45_0.k',
tgt_env='dov_ball45_0.s',
nor_ex_name='rmb200.rgb.p0.05',
tgt_ex_name='reuse_200_0.5_20_p0.05',
path='frontiers2016/objects/rgap',
rep=25):
nor_diff = {
'exp.path': path,
'exp.prefix': ('dov_rgap', ),
'exp.repetitions': rep,
'meta.run_tests': True
}
src_diff = dict(nor_diff)
src_diff['meta.run_tests'] = False
tgt_diff = nor_diff
expcfgs = make_exp([(src_env, tgt_env)],
cfg=exp_cfgs.dov_cfg,
nor_diff=nor_diff,
src_diff=src_diff,
tgt_diff=tgt_diff,
src_ex_names=(nor_ex_name, ),
nor_ex_names=(nor_ex_name, ),
tgt_ex_names=(tgt_ex_name, ))
return expcfgs
def ball_cube_hard(path='frontiers2016/objects/hard', rep=4):
nor_diff = {'exp.path' : path,
'exp.prefix' : ('dov_hard',),
'exp.repetitions' : rep,
'meta.run_tests' : True}
src_diff = nor_diff
tgt_diff = nor_diff
expcfgs = make_exp([('dov_ball45_0_a20.h', 'dov_ball45_0_a20.h'),
('dov_cube45_0_a20.h', 'dov_ball45_0_a20.h'),
('dov_ball45_0_a20.h', 'dov_cube45_0_a20.h'),
('dov_cube45_0_a20.h', 'dov_cube45_0_a20.h')],
cfg=exp_cfgs.dov_cfg,
nor_diff=nor_diff, src_diff=src_diff, tgt_diff=tgt_diff,
src_ex_names=('rmb300.rgb.lwlr.h',),
nor_ex_names=('rmb300.rgb.lwlr.h',),
tgt_ex_names=('reuse_300_0.5_40_lwlr.h',))
# one repetion of the ball -> cube experiment got its data corrupted.
for nor_cfg, src_cfg, tgt_cfg in expcfgs:
src_env_name = tgt_cfg.exp.prefix[2]
tgt_env_name = tgt_cfg.exploration.env_name
if (src_env_name, tgt_env_name) == ('dov_ball45_0_a20.h', 'dov_cube45_0_a20.h'):
tgt_cfg.exp.repetitions = 3
return expcfgs
def pool(path='frontiers2016/objects/pool', rep=100):
nor_diff = {'exp.path' : path,
'exp.prefix' : ('dov_pool',),
'exp.repetitions' : rep,
'meta.run_tests' : True}
src_diff = nor_diff
tgt_diff = nor_diff
return make_exp([('dov_ball45_0.s', 'dov_pool.s')],
cfg=exp_cfgs.dov_cfg,
nor_diff=nor_diff, src_diff=src_diff, tgt_diff=tgt_diff,
src_ex_names=('rmb300.rgb.p0.05',),
nor_ex_names=('rmb300.rgb.p0.025',),
tgt_ex_names=('reuse_300_0.5_40_p0.025',))
def rmb_reuse(path="frontiers2016/objects/reuse", rep=25):
nor_diff = {"exp.path": path, "exp.prefix": ("dov_reuse",), "exp.repetitions": rep, "meta.run_tests": True}
src_diff = nor_diff
tgt_diff = nor_diff
return make_exp(
[("dov_cube45_0.s", "dov_ball45_0.s"), ("dov_ball45_0.s", "dov_cube45_0.s")],
cfg=exp_cfgs.dov_cfg,
nor_diff=nor_diff,
src_diff=src_diff,
tgt_diff=tgt_diff,
src_ex_names=("random.motor",),
nor_ex_names=("rmb200.rgb.p0.05",),
tgt_ex_names=("reuse_200_0.5_20_p0.05",),
)
def rmb_reuse_short(path='frontiers2016/objects/reuse', rep=25):
nor_diff = {'exp.path' : path,
'exp.prefix' : ('dov_reuse',),
'exp.repetitions' : rep,
'meta.run_tests' : True}
src_diff = nor_diff
tgt_diff = nor_diff
return make_exp([('dov_cube45_0.s', 'dov_ball45_0.s'),
('dov_ball45_0.s', 'dov_cube45_0.s')],
cfg=exp_cfgs.dov_cfg,
nor_diff=nor_diff, src_diff=src_diff, tgt_diff=tgt_diff,
src_ex_names=('random.motor',),
nor_ex_names=('rmb200.rgb.p0.05',),
tgt_ex_names=('reuse_50_0.5_20_p0.05',))
def planar(path='frontiers2016/planar_arms', rep=100):
cfg = exp_cfgs.planar_cfg._deepcopy()
nor_diff = {'exp.path' : path,
'exp.prefix' : ('kin_reuse',),
'exp.repetitions' : rep,
'meta.run_tests' : True}
src_diff = nor_diff
tgt_diff = nor_diff
return make_exp([('kin20_150', 'kin20_150_p_0.9')],
cfg=exp_cfgs.planar_cfg._deepcopy(),
nor_diff=nor_diff, src_diff=src_diff, tgt_diff=tgt_diff,
src_ex_names=('rmb50.rgb.p0.05',),
nor_ex_names=('rmb50.rgb.p0.05',),
tgt_ex_names=('reuse_50_1.0_20_p0.05',))
def quick_test():
nor_diff = {'exp.path' : 'test/test',
'exp.prefix' : ('dov_test',),
'exp.repetitions' : 3,
'exploration.steps': 150,
'meta.run_tests' : True,
'provenance.check_dirty' : False,
'provenance.check_continuity' : False}
src_diff = nor_diff
tgt_diff = nor_diff
return make_exp([('dov_cube45_0.k', 'dov_ball45_0.k')],
cfg=exp_cfgs.dov_cfg._deepcopy(),
nor_diff=nor_diff, src_diff=src_diff, tgt_diff=tgt_diff,
src_ex_names=('rmb100.rgb.p0.05',),
nor_ex_names=('rmb100.rgb.p0.05',),
tgt_ex_names=('reuse_100_0.5_20_p0.05',))
def planar_test():
cfg = exp_cfgs.planar_cfg._deepcopy()
nor_diff = {'exp.path' : 'test/planar_test',
'exp.prefix' : ('test',),
'exp.repetitions' : 1,
'exploration.steps': 10000,
'provenance.check_dirty' : False,
'provenance.check_continuity': True,
'meta.run_tests' : True}
src_diff = nor_diff
tgt_diff = nor_diff
return make_exp([('kin20_150', 'kin20_150_p_0.9')],
cfg=exp_cfgs.planar_cfg._deepcopy(),
nor_diff=nor_diff, src_diff=src_diff, tgt_diff=tgt_diff,
src_ex_names=('rmb50.rgb.p0.05',),
nor_ex_names=('rmb50.rgb.p0.05',),
tgt_ex_names=('reuse_50_1.0_20_p0.05',))
def rgap(src_env='dov_ball45_0.k', tgt_env='dov_ball45_0.s',
nor_ex_name='rmb200.rgb.p0.05', tgt_ex_name='reuse_200_0.5_20_p0.05',
path='frontiers2016/objects/rgap', rep=25):
nor_diff = {'exp.path' : path,
'exp.prefix' : ('dov_rgap',),
'exp.repetitions' : rep,
'meta.run_tests' : True}
src_diff = dict(nor_diff)
src_diff['meta.run_tests'] = False
tgt_diff = nor_diff
expcfgs = make_exp([(src_env, tgt_env)],
cfg=exp_cfgs.dov_cfg,
nor_diff=nor_diff, src_diff=src_diff, tgt_diff=tgt_diff,
src_ex_names=(nor_ex_name,),
nor_ex_names=(nor_ex_name,),
tgt_ex_names=(tgt_ex_name,))
return expcfgs
def rmb_reuse_short(path='frontiers2016/objects/reuse', rep=25):
nor_diff = {
'exp.path': path,
'exp.prefix': ('dov_reuse', ),
'exp.repetitions': rep,
'meta.run_tests': True
}
src_diff = nor_diff
tgt_diff = nor_diff
return make_exp([('dov_cube45_0.s', 'dov_ball45_0.s'),
('dov_ball45_0.s', 'dov_cube45_0.s')],
cfg=exp_cfgs.dov_cfg,
nor_diff=nor_diff,
src_diff=src_diff,
tgt_diff=tgt_diff,
src_ex_names=('random.motor', ),
nor_ex_names=('rmb200.rgb.p0.05', ),
tgt_ex_names=('reuse_50_0.5_20_p0.05', ))
def planar(path='frontiers2016/planar_arms', rep=100):
cfg = exp_cfgs.planar_cfg._deepcopy()
nor_diff = {
'exp.path': path,
'exp.prefix': ('kin_reuse', ),
'exp.repetitions': rep,
'meta.run_tests': True
}
src_diff = nor_diff
tgt_diff = nor_diff
return make_exp([('kin20_150', 'kin20_150_p_0.9')],
cfg=exp_cfgs.planar_cfg._deepcopy(),
nor_diff=nor_diff,
src_diff=src_diff,
tgt_diff=tgt_diff,
src_ex_names=('rmb50.rgb.p0.05', ),
nor_ex_names=('rmb50.rgb.p0.05', ),
tgt_ex_names=('reuse_50_1.0_20_p0.05', ))
def quick_test():
nor_diff = {
'exp.path': 'test/test',
'exp.prefix': ('dov_test', ),
'exp.repetitions': 3,
'exploration.steps': 150,
'meta.run_tests': True,
'provenance.check_dirty': False,
'provenance.check_continuity': False
}
src_diff = nor_diff
tgt_diff = nor_diff
return make_exp([('dov_cube45_0.k', 'dov_ball45_0.k')],
cfg=exp_cfgs.dov_cfg._deepcopy(),
nor_diff=nor_diff,
src_diff=src_diff,
tgt_diff=tgt_diff,
src_ex_names=('rmb100.rgb.p0.05', ),
nor_ex_names=('rmb100.rgb.p0.05', ),
tgt_ex_names=('reuse_100_0.5_20_p0.05', ))
def planar_test():
cfg = exp_cfgs.planar_cfg._deepcopy()
nor_diff = {
'exp.path': 'test/planar_test',
'exp.prefix': ('test', ),
'exp.repetitions': 1,
'exploration.steps': 10000,
'provenance.check_dirty': False,
'provenance.check_continuity': True,
'meta.run_tests': True
}
src_diff = nor_diff
tgt_diff = nor_diff
return make_exp([('kin20_150', 'kin20_150_p_0.9')],
cfg=exp_cfgs.planar_cfg._deepcopy(),
nor_diff=nor_diff,
src_diff=src_diff,
tgt_diff=tgt_diff,
src_ex_names=('rmb50.rgb.p0.05', ),
nor_ex_names=('rmb50.rgb.p0.05', ),
tgt_ex_names=('reuse_50_1.0_20_p0.05', ))
