for _ in range(ITER):
print " Iteration: " + str(_)
print " Retraining with " + str(len(dagger.net.data)) + " examples"
dagger.retrain()
acc[_] = dagger.svm.acc()
iteration_states = []
dagger.record = True
for i in range(SAMP):
if i >= LIMIT_DATA:
dagger.record = False
dagger.rollout()
iteration_states += dagger.get_recent_rollout_states().tolist()
r[_] = r[_] + dagger.get_reward() / SAMP
if _ == ITER - 1 and t == 0:
dagger_analysis.count_states(np.array(iteration_states))
dagger_analysis.save_states("comparisons/boost_dt_comparisons/boost_dt_dagger_final.png")
dagger_analysis.show_states()
if t == 0:
dagger_analysis.reset_density()
dagger_analysis.count_states(dagger.get_states())
dagger_analysis.save_states("comparisons/boost_dt_comparisons/boost_dt_dagger.png")
dagger_analysis.show_states()
plotter.plot_state_actions(mdp.pi, rewards=rewards, sinks=sinks,
filename='comparisons/boost_dt_comparisons/boost_dt_dagger_state_action.png')
dagger_data[t,:] = r
dagger_acc[t,:] = acc
# print value_iter_data
# print classic_il_data
# print dagger_data
for _ in range(ITER):
print " Iteration: " + str(_)
print " Retraining with " + str(len(dagger.net.data)) + " examples"
dagger.retrain()
acc[_] = dagger.svm.acc()
iteration_states = []
dagger.record = True
for i in range(SAMP):
if i >= LIMIT_DATA:
dagger.record = False
dagger.rollout()
iteration_states += dagger.get_recent_rollout_states().tolist()
r[_] = r[_] + dagger.get_reward() / SAMP
if _ == ITER - 1 and t == 0:
dagger_analysis.count_states(np.array(iteration_states))
dagger_analysis.save_states(comparisons_directory + "boost_svm_rollouts_dagger_final.png")
dagger_analysis.show_states()
if t == 0:
dagger_analysis.reset_density()
dagger_analysis.count_states(dagger.get_states())
dagger_analysis.save_states(comparisons_directory + "boost_svm_rollouts_dagger.png")
dagger_analysis.show_states()
plotter.plot_state_actions(mdp.pi, rewards=rewards, sinks=sinks,
filename=comparisons_directory + 'boost_svm_rollouts_dagger_state_action.png')
dagger_data[t,:] = r
dagger_acc[t,:] = acc
# print value_iter_data
# print classic_il_data
# print dagger_data
for t in range(TRIALS):
mdp.load_policy()
sup = SVMSupervise(grid, mdp)
sup.sample_policy()
value_iter_analysis = Analysis(W, H, ITER, rewards=rewards, sinks=sinks,
desc='Value iter policy')
r = 0.0
for _ in range(ITER * SAMP):
sup.rollout()
r = r + sup.get_reward() / (ITER * SAMP)
print "Value iter reward: " + str(r)
if t == 0:
value_iter_analysis.count_states(sup.get_states())
value_iter_analysis.save_states("comparisons/svm_comparisons/value_iter.png")
value_iter_analysis.show_states()
sup.train()
classic_il_acc[t,:] = np.zeros(ITER) + sup.svm.acc()
value_iter_data[t,:] = np.zeros(ITER) + r
r = 0.0
sup.net.clear_data()
sup.sample_policy()
il_analysis = Analysis(H, W, ITER, rewards=rewards, sinks=sinks, desc="IL's policy")
for _ in range(SAMP * ITER):
sup.animate = False
sup.rollout()
r = r + sup.get_reward() / (SAMP * ITER)
def run(ne, lr):
plotter = plot_class.Plotter()
comparisons_directory, data_directory = make_name(ne, lr)
if not os.path.exists(comparisons_directory):
os.makedirs(comparisons_directory)
if not os.path.exists(data_directory):
os.makedirs(data_directory)
#ITER = 25
#TRIALS = 10
#SAMP = 20
ITER = 10
TRIALS = 3
SAMP = 10
LIMIT_DATA = 1
DEPTH = 6
H = 15
W = 15
grid = BasicGrid(H, W)
rewards = scenarios.scenario3['rewards']
sinks = scenarios.scenario3['sinks']
grid.reward_states = rewards
grid.sink_states = sinks
mdp = ClassicMDP(ClassicPolicy(grid), grid)
#mdp.value_iteration()
#mdp.save_policy('scen4.p')
mdp.load_policy('scen4.p')
value_iter_pi = mdp.pi
plotter.plot_state_actions(value_iter_pi, rewards = grid.reward_states, sinks = grid.sink_states,
filename=comparisons_directory + 'value_iter_state_action.png')
value_iter_data = np.zeros([TRIALS, ITER])
classic_il_data = np.zeros([TRIALS, ITER])
classic_il_acc = np.zeros([TRIALS, ITER])
classic_il_loss = np.zeros([TRIALS, ITER])
for t in range(TRIALS):
print "\nIL Trial: " + str(t)
mdp.load_policy('scen4.p')
boost = SVC(kernel='linear')
boost = AdaBoostClassifier(base_estimator=boost, algorithm='SAMME', n_estimators=ne, learning_rate=lr)
sup = ScikitSupervise(grid, mdp, Classifier=boost)
sup.sample_policy()
value_iter_analysis = Analysis(W, H, ITER, rewards=rewards, sinks=sinks,
desc='Value iter policy')
value_iter_r = np.zeros(ITER)
classic_il_r = np.zeros(ITER)
acc = np.zeros(ITER)
loss = np.zeros(ITER)
sup.record = True
#for _ in range(4):
# sup.rollout()
for i in range(ITER):
print " Iteration: " + str(i)
mdp.pi = value_iter_pi
sup.record = True
for _ in range(SAMP):
if _ >= LIMIT_DATA:
sup.record = False
sup.rollout()
value_iter_r[i] += sup.get_reward() / (SAMP)
sup.record = False
print " Training on " + str(len(sup.net.data)) + " examples"
sup.train()
acc[i] = sup.svm.acc()
for _ in range(SAMP):
sup.record=False
sup.rollout()
loss[i] += sup.get_loss() / float(SAMP)
classic_il_r[i] += sup.get_reward() / SAMP
#print acc
if t == 0:
plotter.plot_state_actions(mdp.pi, rewards=rewards, sinks=sinks,
filename=comparisons_directory + 'svm_classic_il_state_action.png')
classic_il_data[t,:] = classic_il_r
value_iter_data[t,:] = value_iter_r
classic_il_acc[t,:] = acc
classic_il_loss[t,:] = loss
#DAGGER
dagger_data = np.zeros((TRIALS, ITER))
dagger_analysis = Analysis(H, W, ITER, rewards = grid.reward_states, sinks=grid.sink_states, desc="Dagger's policy progression")
dagger_acc = np.zeros((TRIALS, ITER))
dagger_loss = np.zeros((TRIALS, ITER))
for t in range(TRIALS):
print "DAgger Trial: " + str(t)
mdp.load_policy('scen4.p')
dagger = SVMDagger(grid, mdp, depth=DEPTH)
dagger.svm.nonlinear=False
dagger.record = True
dagger.rollout()
#for _ in range(5):
# dagger.rollout()
r = np.zeros(ITER)
acc = np.zeros(ITER)
loss = np.zeros(ITER)
for _ in range(ITER):
print " Iteration: " + str(_)
print " Retraining with " + str(len(dagger.net.data)) + " examples"
dagger.retrain()
acc[_] = dagger.svm.acc()
iteration_states = []
dagger.record = True
for i in range(SAMP):
if i >= LIMIT_DATA:
dagger.record = False
dagger.rollout()
loss[_] += dagger.get_loss() / float(SAMP)
iteration_states += dagger.get_recent_rollout_states().tolist()
r[_] = r[_] + dagger.get_reward() / SAMP
#if _ == ITER - 1 and t == 0:
if _ == 0 and t ==0:
dagger_analysis.count_states(np.array(iteration_states))
dagger_analysis.save_states(comparisons_directory + "svm_dagger_final.png")
dagger_analysis.show_states()
if t == 0:
dagger_analysis.reset_density()
dagger_analysis.count_states(dagger.get_states())
dagger_analysis.save_states(comparisons_directory + "svm_dagger.png")
dagger_analysis.show_states()
plotter.plot_state_actions(mdp.pi, rewards=rewards, sinks=sinks,
filename=comparisons_directory + 'svm_dagger_state_action.png')
dagger_data[t,:] = r
dagger_acc[t,:] = acc
dagger_loss[t,:] = loss
# print value_iter_data
# print classic_il_data
# print dagger_data
print classic_il_loss
print dagger_loss
np.save(data_directory + 'svm_sup_data.npy', value_iter_data)
np.save(data_directory + 'svm_classic_il_data.npy', classic_il_data)
np.save(data_directory + 'svm_dagger_data.npy', dagger_data)
np.save(data_directory + 'svm_dagger_acc.npy', dagger_acc)
np.save(data_directory + 'svm_classic_il_acc.npy', classic_il_acc)
analysis = Analysis(H, W, ITER, rewards=rewards, sinks=sinks, desc="General comparison")
analysis.get_perf(value_iter_data)
analysis.get_perf(classic_il_data)
analysis.get_perf(dagger_data)
#analysis.plot(names = ['Value iteration', 'Adaboost IL'], filename=comparisons_directory + 'svm_reward_comparison.png', ylims=[-60, 100])
analysis.plot(names = ['Value iteration', 'LSVM Boosted IL', 'LSVM DAgger'], filename=comparisons_directory + 'svm_reward_comparison.png', ylims=[-60, 100])
print "Saving analysis to: " + comparisons_directory + 'svm_reward_comparison.png'
acc_analysis = Analysis(H, W, ITER, rewards = grid.reward_states, sinks=grid.sink_states, desc="Accuracy comparison")
acc_analysis.get_perf(classic_il_acc)
acc_analysis.get_perf(dagger_acc)
acc_analysis.plot(names = ['LSVM Boosted Acc.', 'LSVM DAgger Acc.'], label='Accuracy', filename=comparisons_directory + 'svm_acc_comparison.png', ylims=[0,1])
#acc_analysis.plot(names = ['Adaboost IL Acc.'], label='Accuracy', filename=comparisons_directory + 'svm_acc_comparison.png', ylims=[0,1])
loss_analysis = Analysis(H, W, ITER, rewards=rewards, sinks=sinks, desc="Loss plot")
loss_analysis.get_perf(classic_il_loss)
loss_analysis.get_perf(dagger_loss)
loss_analysis.plot(names = ['LSVM Boosted IL loss', 'LSVM DAgger loss'], filename=comparisons_directory + 'loss_plot.png', ylims=[0, 1])
classic_il_data = np.zeros([TRIALS, ITER])
for t in range(TRIALS):
mdp.load_policy()
sup = Supervise(grid, mdp)
sup.sample_policy()
supervisor_analysis = Analysis(H, W, ITER, rewards = grid.reward_states, sinks=grid.sink_states, desc="Supervisor's policy")
r = 0.0
for _ in range(ITER * SAMP):
sup.rollout()
r = r + sup.get_reward() / (ITER * SAMP)
print "Value iter reward: " + str(r)
if t == 0:
supervisor_analysis.count_states(sup.get_states())
supervisor_analysis.save_states("comparisons/comparisons/value_iter.png")
supervisor_analysis.show_states()
sup.train()
classic_train, classic_test = sup.net.return_stats()
classic_train = np.zeros((TRIALS, ITER)) + classic_train
classic_test = np.zeros((TRIALS, ITER)) + classic_test
sup_data[t,:] = np.zeros(ITER) + r
r = 0.0
sup.net.clear_data()
sup.sample_policy()
il_analysis = Analysis(H, W, ITER, rewards = grid.reward_states, sinks = grid.sink_states, desc="IL's policy")
print sup.get_states()
for _ in range(SAMP * ITER):
for _ in range(ITER):
print " Iteration: " + str(_)
print " Retraining with " + str(len(dagger.net.data)) + " examples"
dagger.retrain()
acc[_] = dagger.svm.acc()
iteration_states = []
dagger.record = True
for i in range(SAMP):
if i >= LIMIT_DATA:
dagger.record = False
dagger.rollout()
iteration_states += dagger.get_recent_rollout_states().tolist()
r[_] = r[_] + dagger.get_reward() / SAMP
if _ == ITER - 1 and t == 0:
dagger_analysis.count_states(np.array(iteration_states))
dagger_analysis.save_states("comparisons/percept_comparisons/percept_dagger_final.png")
dagger_analysis.show_states()
if t == 0:
dagger_analysis.reset_density()
dagger_analysis.count_states(dagger.get_states())
dagger_analysis.save_states("comparisons/percept_comparisons/percept_dagger.png")
dagger_analysis.show_states()
plotter.plot_state_actions(mdp.pi, rewards=rewards, sinks=sinks,
filename='comparisons/percept_comparisons/percept_dagger_state_action.png')
dagger_data[t,:] = r
dagger_acc[t,:] = acc
# print value_iter_data
# print classic_il_data
# print dagger_data
print " Retraining with " + str(len(dagger.net.data)) + " examples"
dagger.retrain()
acc[_] = dagger.svm.acc()
iteration_states = []
dagger.record = True
for i in range(SAMP):
if i >= LIMIT_DATA:
dagger.record = False
dagger.rollout()
loss[_] += dagger.get_loss() / float(SAMP)
iteration_states += dagger.get_recent_rollout_states().tolist()
r[_] = r[_] + dagger.get_reward() / SAMP
#if _ == ITER - 1 and t == 0:
if _ == 0 and t ==0:
dagger_analysis.count_states(np.array(iteration_states))
dagger_analysis.save_states(comparisons_directory + "svm_dagger_final.png")
dagger_analysis.show_states()
if t == 0:
dagger_analysis.reset_density()
dagger_analysis.count_states(dagger.get_states())
dagger_analysis.save_states(comparisons_directory + "svm_dagger.png")
dagger_analysis.show_states()
plotter.plot_state_actions(mdp.pi, rewards=rewards, sinks=sinks,
filename=comparisons_directory + 'svm_dagger_state_action.png')
dagger_data[t,:] = r
dagger_acc[t,:] = acc
dagger_loss[t,:] = loss
# print value_iter_data
# print classic_il_data
for _ in range(ITER):
print " Iteration: " + str(_)
print " Retraining with " + str(len(dagger.net.data)) + " examples"
dagger.retrain()
acc[_] = dagger.svm.acc()
iteration_states = []
dagger.record = True
for i in range(SAMP):
if i >= LIMIT_DATA:
dagger.record = False
dagger.rollout()
iteration_states += dagger.get_recent_rollout_states().tolist()
r[_] = r[_] + dagger.get_reward() / SAMP
if _ == ITER - 1 and t == 0:
dagger_analysis.count_states(np.array(iteration_states))
dagger_analysis.save_states(comparisons_directory + "boost_dt_sup_dagger_final.png")
dagger_analysis.show_states()
if t == 0:
dagger_analysis.reset_density()
dagger_analysis.count_states(dagger.get_states())
dagger_analysis.save_states(comparisons_directory + "boost_dt_sup_dagger.png")
dagger_analysis.show_states()
plotter.plot_state_actions(mdp.pi, rewards=rewards, sinks=sinks,
filename=comparisons_directory + 'boost_dt_sup_dagger_state_action.png')
dagger_data[t,:] = r
dagger_acc[t,:] = acc
# print value_iter_data
# print classic_il_data
# print dagger_data