def run_classical_experiments(
path_generators=None,
render=False,
default_config={},
controllers=None,
):
if path_generators is None:
path_generators = ['curriculum_angled_path_factory', 'sine_path_generator', 'circle_path_factory',
'figure_eight_generator', 'carla_json_generator', 'straight_variable_speed_generator',
'left_lane_change_generator', 'right_lane_change_generator', 'snider_2009_track_generator',
'double_lane_change_generator', 'straight_variable_speed_pulse_generator',
'hairpin_turn_generator', 'right_turn_generator']
if controllers is None:
controllers = ['stanley', 'pure_pursuit', 'pid', 'mpc_ltv']
for control in controllers:
for path in path_generators:
default_config = merge_configs(default_config, {
'num_runs': 1,
'render': render,
'controller': control,
'name': control + "_" + path,
'environment': {
'max_distance_error': 5.0,
'process': {
'path_generator': 'figure_eight_generator',
}
}
})
config, run_prefix = setup_run(default_config)
evaluations = [run(config, run_prefix, i) for i in range(config['num_runs'])]
print("All classical controllers ran!")
def run_checkpoint_experiment(default_config, info, path_generator, render):
config = info['config']
original_name = config['name']
name = original_name + "_" + path_generator
config['name'] = name
config['checkpoint'] = info['checkpoint']
config['environment']['process']['path_generator'] = path_generator
config['render'] = render
config['environment']['rewarder']['steering_control_effort_tradeoff'] = 0.0
config['environment']['rewarder']['acceleration_control_effort_tradeoff'] = 0.0
default_config = merge_configs(default_config, config)
config, run_prefix = setup_run(default_config, use_command_line=False)
try:
print('Running experiment: {} | {}'.format(name, config['name']))
evaluations = [run(config, run_prefix, i) for i in range(config['num_runs'])]
print("Experiment " + name + " finished!")
except Exception as e:
print("Experiment " + name + " didn't run, exception '{}'".format(repr(e)))
info['config']['name'] = original_name
def run_one(path_generator, controller):
print('path generator: {}, controller: {}.'.format(path_generator, controller))
config = merge_configs(common_default_config, {
'num_runs': 1,
'render': True,
'controller': controller,
'name': controller + "_" + path_generator,
'environment': {
'max_distance_error': 25.0,
'process': {
'path_generator': path_generator,
}
}
})
print('merged:')
pprint(config)
print('running:')
config, run_prefix = setup_run(config, use_command_line=False)
run(config, run_prefix, 0)
print('complete.')
'num_runs': 1,
'render': False,
'controller': 'scheduled',
'name': 'scheduled',
'environment': {
'terminator': {},
'controller': {
# 'input_csv': '/home/ctripp/project/cavs/src/cavs-environments/cavs_environments/vehicle/k_road/controller'
# '/scheduled_controller_inputs.csv'
},
'max_distance_error': 50000000000000000.0,
'process': {
'path_generator': 'straight_variable_speed_pulse_generator',
}
}
})
config, run_prefix = setup_run(default_config)
evaluations = [run(config, run_prefix, i) for i in range(config['num_runs'])]
##To run multuple runs in parallel
# pool = multiprocessing.Pool(
# processes=multiprocessing.cpu_count() if config['num_cpus'] is None else config['num_cpus'])
#
# with pool:
# evaluations = pool.map(functools.partial(run, config, run_prefix), [i for i in range(config['num_runs'])])
if ray.is_initialized():
ray.shutdown()