# by Fabien C. Y. Benureau and Pierre-Yves Oudeyer
# Licensed under the Open Science License (see http://fabien.benureau.com/openscience.html)
import experiments
import dotdot
import exp_cfgs
from exp_factory import make_exp
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",),
)
if __name__ == "__main__":
experiments.run_exps(rmb_reuse())
# Licensed under the Open Science License (see http://fabien.benureau.com/openscience.html)
import experiments
import dotdot
import exp_cfgs
from exp_factory import make_exp
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',))
if __name__ == '__main__':
experiments.run_exps(quick_test())
# Code for generating figures of the article:
# "Behavioral Diversity Generation in Autonomous Exploration Through Reuse of Past Experience"
# by Fabien C. Y. Benureau and Pierre-Yves Oudeyer
# Licensed under the Open Science License (see http://fabien.benureau.com/openscience.html)
import experiments
from fig19a_cluster import rgap
def rgap_crude():
return rgap(src_env='dov_ball45_0.kb')
if __name__ == '__main__':
experiments.run_exps(rgap_crude())
import exp_cfgs
from exp_factory import make_exp
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', ))
if __name__ == '__main__':
experiments.run_exps(quick_test())
import dotdot
import exp_cfgs
from exp_factory import make_exp
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', ))
if __name__ == '__main__':
experiments.run_exps(rmb_reuse())
r_ex = explorers.MetaExplorer.defcfg._deepcopy()
r_ex.eras = (mb, None)
r_ex.weights = ((1-p_reuse, 0.0, p_reuse), (0.0, 1.0, 0.0))
r_ex.ex_0 = explorers.RandomMotorExplorer.defcfg._deepcopy()
r_ex.ex_1 = explorers.RandomGoalExplorer.defcfg._deepcopy()
r_ex.ex_1.learner = learners.MutateNNLearner.defcfg._deepcopy()
r_ex.ex_1.learner.operator.name = 'uniform'
r_ex.ex_1.learner.operator.d = 0.05
r_ex.ex_2 = explorers.ReuseExplorer.defcfg._deepcopy()
r_ex.ex_2.reuse.res = res
r_ex.ex_2.reuse.algorithm = algorithm
alg_str = '' if algorithm == 'sensor_uniform' else '.' + algorithm
return 'reuse{}_{}_{}_{}_{}'.format(alg_str, mb, p_reuse, res, lrn_name), r_ex
tgt_cfg = cfg._deepcopy()
tgt_cfg.exp.path = 'unit_tests/'
tgt_cfg.exploration.ex_name, tgt_cfg.exploration.explorer = reuse_ex(50, 0.5)
tgt_cfg.exploration.deps = (experiments.expkey(cfg),)
tgt_cfg.exp.prefix = ('prefix2',) #, 'random.motor', 'kin7_150')
if __name__ == '__main__':
experiments.run_exps([cfg, tgt_cfg])
# Code for generating figures of the article:
# "Behavioral Diversity Generation in Autonomous Exploration Through Reuse of Past Experience"
# by Fabien C. Y. Benureau and Pierre-Yves Oudeyer
# Licensed under the Open Science License (see http://fabien.benureau.com/openscience.html)
import experiments
from fig19a_cluster import rgap
def rgap_h():
return rgap(src_env='dov_ball45_0.k',
tgt_env='dov_ball45_0.h',
path='frontiers2016/objects/rgap_hard',
rep=4,
nor_ex_name='rmb300.rgb.mesh25.p0.07.h',
tgt_ex_name='reuse_300_0.5_25_rgb.mesh25.p0.07.h')
if __name__ == '__main__':
experiments.run_exps(rgap_h())
# 'rmb300.rgb.mesh25.p0.07.h'
# 'reuse_300_0.5_25_rgb.mesh25.p0.07.h'
import dotdot
import exp_cfgs
from exp_factory import make_exp
def ball_cube(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_ball45_0.s", "dov_ball45_0.s"),
("dov_cube45_0.s", "dov_ball45_0.s"),
("dov_ball45_0.s", "dov_cube45_0.s"),
("dov_cube45_0.s", "dov_cube45_0.s"),
],
cfg=exp_cfgs.dov_cfg._deepcopy(),
nor_diff=nor_diff,
src_diff=src_diff,
tgt_diff=tgt_diff,
src_ex_names=("rmb200.rgb.p0.05",),
nor_ex_names=("rmb200.rgb.p0.05",),
tgt_ex_names=("reuse_200_0.5_20_p0.05",),
)
if __name__ == "__main__":
experiments.run_exps(ball_cube())
# by Fabien C. Y. Benureau and Pierre-Yves Oudeyer
# Licensed under the Open Science License (see http://fabien.benureau.com/openscience.html)
import experiments
import dotdot
import exp_cfgs
from exp_factory import make_exp
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',))
if __name__ == '__main__':
experiments.run_exps(rmb_reuse_short())
# by Fabien C. Y. Benureau and Pierre-Yves Oudeyer
# Licensed under the Open Science License (see http://fabien.benureau.com/openscience.html)
import experiments
import dotdot
import exp_cfgs
from exp_factory import make_exp
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',))
if __name__ == '__main__':
experiments.run_exps(planar())
# "Behavioral Diversity Generation in Autonomous Exploration Through Reuse of Past Experience"
# by Fabien C. Y. Benureau and Pierre-Yves Oudeyer
# Licensed under the Open Science License (see http://fabien.benureau.com/openscience.html)
import experiments
import dotdot
import exp_cfgs
from exp_factory import make_exp
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',))
if __name__ == '__main__':
experiments.run_exps(pool())
from exp_factory import make_exp
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', ))
if __name__ == '__main__':
experiments.run_exps(planar_test())
# by Fabien C. Y. Benureau and Pierre-Yves Oudeyer
# Licensed under the Open Science License (see http://fabien.benureau.com/openscience.html)
import experiments
import dotdot
import exp_cfgs
from exp_factory import make_exp
def dissimilar(path='frontiers2016/objects/reuse', rep=100):
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_ball45_0.s', 'dov_ball45_4.s'),
('dov_ball45_4.s', 'dov_ball45_0.s')],
cfg=exp_cfgs.dov_cfg,
nor_diff=nor_diff, src_diff=src_diff, tgt_diff=tgt_diff,
src_ex_names=('rmb200.rgb.p0.05',),
nor_ex_names=('rmb200.rgb.p0.05',),
tgt_ex_names=('reuse_200_0.5_20_p0.05',))
if __name__ == '__main__':
experiments.run_exps(dissimilar())
import experiments
import dotdot
import exp_cfgs
from exp_factory import make_exp
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',))
if __name__ == '__main__':
experiments.run_exps(planar_test())
}
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
if __name__ == '__main__':
experiments.run_exps(ball_cube_hard())
import dotdot
import exp_cfgs
from exp_factory import make_exp
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', ))
if __name__ == '__main__':
experiments.run_exps(planar())
# Code for generating figures of the article:
# "Behavioral Diversity Generation in Autonomous Exploration Through Reuse of Past Experience"
# by Fabien C. Y. Benureau and Pierre-Yves Oudeyer
# Licensed under the Open Science License (see http://fabien.benureau.com/openscience.html)
import experiments
from fig19a_cluster import rgap
def rgap_crude():
return rgap(src_env='dov_ball45_0.kb')
if __name__ == '__main__':
experiments.run_exps(rgap_crude())
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
if __name__ == '__main__':
experiments.run_exps(ball_cube_hard())
import dotdot
import exp_cfgs
from exp_factory import make_exp
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', ))
if __name__ == '__main__':
experiments.run_exps(rmb_reuse_short())
import exp_cfgs
from exp_factory import make_exp
def ball_cube(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_ball45_0.s', 'dov_ball45_0.s'),
('dov_cube45_0.s', 'dov_ball45_0.s'),
('dov_ball45_0.s', 'dov_cube45_0.s'),
('dov_cube45_0.s', 'dov_cube45_0.s')],
cfg=exp_cfgs.dov_cfg._deepcopy(),
nor_diff=nor_diff,
src_diff=src_diff,
tgt_diff=tgt_diff,
src_ex_names=('rmb200.rgb.p0.05', ),
nor_ex_names=('rmb200.rgb.p0.05', ),
tgt_ex_names=('reuse_200_0.5_20_p0.05', ))
if __name__ == '__main__':
experiments.run_exps(ball_cube())
import experiments
import dotdot
import exp_cfgs
from exp_factory import make_exp
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
if __name__ == '__main__':
experiments.run_exps(rgap())
r_ex = explorers.MetaExplorer.defcfg._deepcopy()
r_ex.eras = (mb, None)
r_ex.weights = ((1 - p_reuse, 0.0, p_reuse), (0.0, 1.0, 0.0))
r_ex.ex_0 = explorers.RandomMotorExplorer.defcfg._deepcopy()
r_ex.ex_1 = explorers.RandomGoalExplorer.defcfg._deepcopy()
r_ex.ex_1.learner = learners.MutateNNLearner.defcfg._deepcopy()
r_ex.ex_1.learner.operator.name = 'uniform'
r_ex.ex_1.learner.operator.d = 0.05
r_ex.ex_2 = explorers.ReuseExplorer.defcfg._deepcopy()
r_ex.ex_2.reuse.res = res
r_ex.ex_2.reuse.algorithm = algorithm
alg_str = '' if algorithm == 'sensor_uniform' else '.' + algorithm
return 'reuse{}_{}_{}_{}_{}'.format(alg_str, mb, p_reuse, res,
lrn_name), r_ex
tgt_cfg = cfg._deepcopy()
tgt_cfg.exp.path = 'unit_tests/'
tgt_cfg.exploration.ex_name, tgt_cfg.exploration.explorer = reuse_ex(50, 0.5)
tgt_cfg.exploration.deps = (experiments.expkey(cfg), )
tgt_cfg.exp.prefix = ('prefix2', ) #, 'random.motor', 'kin7_150')
if __name__ == '__main__':
experiments.run_exps([cfg, tgt_cfg])
