def run_tests(cfg):
start_time = time.time()
try:
cfg.update(defaultcfg, overwrite = False)
data = datafile.load_data(cfg.hardware.datafile)
date, expcfg, history = data['date'], data['cfg'], data['history']
cfg.test.setdefault('max', value = len(history))
cfg.test.max = min(len(history), cfg.test.max)
cfg.update(expcfg, overwrite = False)
bot = robots.build_robot(cfg.sim)
assert cfg.goals.effect.s_feats == bot.s_feats
assert cfg.goals.effect.s_bounds == bot.s_bounds
assert cfg.goals.motor.m_feats == bot.m_feats
assert cfg.goals.motor.m_bounds == bot.m_bounds
learner = Learner(bot.m_feats, bot.s_feats, bot.m_bounds, fwd = 'ES-LWLR', inv = 'L-BFGS-B')
if cfg.test.testsetfile is None:
testset = exp.create_tests(bot.s_bounds, cfg.test.res, fixed_dim = cfg.test.fixed_dim)
else:
testset = datafile.load_testset(cfg.test.testsetfile)
print(cfg.makeReport())
ticks, results, averages, stds = [], [], [], []
for counter, (order, goal, _, effect) in enumerate(history):
if (counter) % cfg.test.freq == 0:
ticks.append(counter)
result = exp.test_results(bot, learner, testset)
avg, std = exp.test_perfs(testset, result)
results.append(result)
averages.append(avg)
stds.append(std)
print("{}{:5d}: {}{:6.4f}{}".format(gfx.purple, counter, gfx.cyan, avg, gfx.end))
if counter > cfg.test.max:
break
learner.add_xy(order, effect)
exp.save_test(cfg, date, tuple(testset), tuple(ticks), tuple(results),
tuple(averages), tuple(stds))
except Exception:
import traceback
traceback.print_exc()
finally:
bot.close()
print("ran for {}s.".format(int(time.time() - start_time)))
def run_tests(cfg):
start_time = time.time()
try:
cfg.update(defaultcfg, overwrite=False)
data = datafile.load_data(cfg.hardware.datafile)
date, expcfg, history = data['date'], data['cfg'], data['history']
cfg.test.setdefault('max', value=len(history))
cfg.test.max = min(len(history), cfg.test.max)
cfg.update(expcfg, overwrite=False)
bot = robots.build_robot(cfg.sim)
assert cfg.goals.effect.s_feats == bot.s_feats
assert cfg.goals.effect.s_bounds == bot.s_bounds
assert cfg.goals.motor.m_feats == bot.m_feats
assert cfg.goals.motor.m_bounds == bot.m_bounds
learner = Learner(bot.m_feats,
bot.s_feats,
bot.m_bounds,
fwd='ES-LWLR',
inv='L-BFGS-B')
if cfg.test.testsetfile is None:
testset = exp.create_tests(bot.s_bounds,
cfg.test.res,
fixed_dim=cfg.test.fixed_dim)
else:
testset = datafile.load_testset(cfg.test.testsetfile)
print(cfg.makeReport())
ticks, results, averages, stds = [], [], [], []
for counter, (order, goal, _, effect) in enumerate(history):
if (counter) % cfg.test.freq == 0:
ticks.append(counter)
result = exp.test_results(bot, learner, testset)
avg, std = exp.test_perfs(testset, result)
results.append(result)
averages.append(avg)
stds.append(std)
print("{}{:5d}: {}{:6.4f}{}".format(gfx.purple, counter,
gfx.cyan, avg, gfx.end))
if counter > cfg.test.max:
break
learner.add_xy(order, effect)
exp.save_test(cfg, date, tuple(testset), tuple(ticks), tuple(results),
tuple(averages), tuple(stds))
except Exception:
import traceback
traceback.print_exc()
finally:
bot.close()
print("ran for {}s.".format(int(time.time() - start_time)))
