def cylinder_ball(expcfgs=None):
return generate_expcfgs(
[
('dov_tube40_80_0.s', 'dov_ball45_0.s'),
('dov_tube40_80_0_rs.s', 'dov_ball45_0.s'),
#('dov_ball45_0.s', 'dov_tube40_80_0.s'),
],
expcfgs=expcfgs,
src_ex_names=('random_goal200', ),
reuse_algo=('sensor_uniform', 'random'))
def ball_cube_25(expcfgs=None):
return generate_expcfgs([('dov_ball25_0.s', 'dov_ball25_0.s'),
('dov_ball25_0.s', 'dov_cube25_0.s'),
('dov_cube25_0.s', 'dov_cube25_0.s'),
('dov_cube25_0.s', 'dov_ball25_0.s')],
expcfgs=expcfgs,
src_ex_names=('random_goal200', ),
reuse_algo=('sensor_uniform', ))
if __name__ == '__main__':
expcfgs = [[], []]
expcfgs = ball_cube_45(expcfgs)
expcfgs = misreuse(expcfgs)
expcfgs = cylinder_ball(expcfgs)
expcfgs = ball_cube_25(expcfgs)
explib.run([cfg for cfg_level in expcfgs for cfg in cfg_level])
cfg.testscov.buffer_size = 0.02
cfg.testscov.ticks = [1000*i for i in range(11)]
expcfgs_levels = [[]]
env_names = ['kin20_150']
ps = [0.001, 0.05, 0.5]
explorer_name = 'random.goal'
for p in ps:
for d in [i*0.05 for i in range(21)]:
for env_name in env_names:
exp_cfg = cfg._deepcopy()
exp_cfg.exploration.explorer._strict(False)
exp_cfg.exploration.explorer._update(exs.catalog[explorer_name]._deepcopy(), overwrite=False)
exp_cfg.exploration.explorer.weights = ((1.0, 0.0), (d, 1-d))
exp_cfg.exploration.explorer.eras = (1, None)
exp_cfg.exploration.explorer.ex_1.learner.m_disturb = p
exp_cfg.job.env._update(envs.catalog[env_name], overwrite=False)
exp_cfg.exp.prefix_name += (str(disturb),str(p))
exp_cfg.exp.key = ((exp_cfg.exp.prefix_name + (explorer_name, env_name), cfg.exp.repetitions), exp_cfg.exp.deps)
exp_cfg.exp.explorer_name = explorer_name
exp_cfg.exp.env_name = env_name
expcfgs_levels[0].append(exp_cfg)
if __name__ == '__main__':
explib.run([cfg for cfg_level in expcfgs_levels for cfg in cfg_level])