def test_database_runner(self):
dbs = DatabaseSerializer(test_scenarios=4, test_world_steps=5, num_serialize_scenarios=2)
dbs.process("data/database1")
local_release_filename = dbs.release(version="test")
db = BenchmarkDatabase(database_root=local_release_filename)
evaluators = {"success" : "EvaluatorGoalReached", "collision" : "EvaluatorCollisionEgoAgent",
"max_steps": "EvaluatorStepCount"}
terminal_when = {"collision" :lambda x: x, "max_steps": lambda x : x>2}
params = ParameterServer() # only for evaluated agents not passed to scenario!
behaviors_tested = {"IDM": BehaviorIDMClassic(params), "Const" : BehaviorConstantAcceleration(params)}
benchmark_runner = BenchmarkRunner(benchmark_database=db,
evaluators=evaluators,
terminal_when=terminal_when,
behaviors=behaviors_tested,
log_eval_avg_every=5)
result = benchmark_runner.run()
df = result.get_data_frame()
print(df)
self.assertEqual(len(df.index), 2*2*2) # 2 Behaviors * 2 Serialize Scenarios * 1 scenario sets
groups = result.get_evaluation_groups()
self.assertEqual(set(groups), set(["behavior", "scen_set"]))
def test_database_runner(self):
dbs = DatabaseSerializer(test_scenarios=4,
test_world_steps=5,
num_serialize_scenarios=2)
dbs.process("data/database1")
local_release_filename = dbs.release(version="test")
db = BenchmarkDatabase(database_root=local_release_filename)
safe_dist_params = ParameterServer(log_if_default=True)
test_python_params = ParameterServer(log_if_default=True)
evaluators = {
"success": "EvaluatorGoalReached",
"collision": "EvaluatorCollisionEgoAgent",
"max_steps": "EvaluatorStepCount",
"safe_dist_lon": {
"type": "EvaluatorDynamicSafeDist",
"params": safe_dist_params
},
"safe_dist_lat": {
"type": "EvaluatorStaticSafeDist",
"params": safe_dist_params
},
"test_evaluator": {
"type": "TestPythonEvaluator",
"params": test_python_params
},
"test_evaluator_serializable": TestPythonEvaluatorSerializable()
}
terminal_when = {
"collision": lambda x: x,
"max_steps": lambda x: x > 2,
"safe_dist_lon": lambda x: x
}
params = ParameterServer(
) # only for evaluated agents not passed to scenario!
behaviors_tested = {
"IDM": BehaviorIDMClassic(params),
"Const": BehaviorConstantAcceleration(params)
}
EvaluationConfig.AddEvaluationModule(
"bark.benchmark.tests.test_evaluator")
benchmark_runner = BenchmarkRunner(benchmark_database=db,
evaluators=evaluators,
log_eval_avg_every=1,
terminal_when=terminal_when,
behaviors=behaviors_tested)
result = benchmark_runner.run()
df = result.get_data_frame()
print(df)
self.assertEqual(
len(df.index),
2 * 2 * 2) # 2 Behaviors * 2 Serialize Scenarios * 1 scenario sets
result.load_benchmark_configs()
groups = result.get_evaluation_groups()
self.assertEqual(set(groups), set(["behavior", "scen_set"]))
def test_database_runner_checkpoint(self):
dbs = DatabaseSerializer(test_scenarios=4, test_world_steps=5, num_serialize_scenarios=10)
dbs.process("data/database1")
local_release_filename = dbs.release(version="test")
db = BenchmarkDatabase(database_root=local_release_filename)
evaluators = {"success" : "EvaluatorGoalReached", "collision" : "EvaluatorCollisionEgoAgent",
"max_steps": "EvaluatorStepCount"}
terminal_when = {"collision" :lambda x: x, "max_steps": lambda x : x>2}
params = ParameterServer() # only for evaluated agents not passed to scenario!
behaviors_tested = {"IDM": BehaviorIDMClassic(params), "Const" : BehaviorConstantAcceleration(params)}
benchmark_runner = BenchmarkRunner(benchmark_database=db,
evaluators=evaluators,
terminal_when=terminal_when,
behaviors=behaviors_tested,
log_eval_avg_every=20,
checkpoint_dir="checkpoints1/")
# one run after 30 steps benchmark dumped
result = benchmark_runner.run(checkpoint_every = 30)
df = result.get_data_frame()
print(df)
self.assertEqual(len(df.index), 40) # 2 Behaviors * 10 Serialize Scenarios * 2 scenario sets
# check twice first, merging from checkpoints
merged_result = BenchmarkRunner.merge_checkpoint_benchmark_results(checkpoint_dir="checkpoints1/")
df = merged_result.get_data_frame()
self.assertEqual(len(df.index), 30)
# second load merged results
self.assertTrue(os.path.exists(os.path.join("checkpoints1/merged_results.ckpnt")))
merged_result = BenchmarkRunner.merge_checkpoint_benchmark_results(checkpoint_dir="checkpoints1/")
df = merged_result.get_data_frame()
self.assertEqual(len(df.index), 30)
configs_to_run = BenchmarkRunner.get_configs_to_run(benchmark_runner.configs_to_run, merged_result)
self.assertEqual(len(configs_to_run), 10)
benchmark_runner2 = BenchmarkRunner(benchmark_database=db,
evaluators=evaluators,
terminal_when=terminal_when,
behaviors=behaviors_tested,
log_eval_avg_every=1,
checkpoint_dir="checkpoints1/",
merge_existing=True)
result = benchmark_runner2.run(checkpoint_every = 7)
df = result.get_data_frame()
print(df)
self.assertEqual(len(df.index), 40) # 2 Behaviors * 10 Serialize Scenarios * 2 scenario sets
# check if results maintained in existing result dump, 30 from previous run + 7 after new checkpoint
merged_result = BenchmarkRunner.merge_checkpoint_benchmark_results(checkpoint_dir="checkpoints1/")
df = merged_result.get_data_frame()
self.assertEqual(len(df.index), 37)
def test_database_multiprocessing_runner_checkpoint(self):
dbs = DatabaseSerializer(test_scenarios=1, test_world_steps=2, num_serialize_scenarios=10)
dbs.process("data/database1")
local_release_filename = dbs.release(version="test")
db = BenchmarkDatabase(database_root=local_release_filename)
evaluators = {"success" : "EvaluatorGoalReached", "collision" : "EvaluatorCollisionEgoAgent",
"max_steps": "EvaluatorStepCount"}
terminal_when = {"collision" :lambda x: x, "max_steps": lambda x : x>2}
params = ParameterServer() # only for evaluated agents not passed to scenario!
behaviors_tested = {"IDM": BehaviorIDMClassic(params), "Const" : BehaviorConstantAcceleration(params)}
benchmark_runner = BenchmarkRunnerMP(benchmark_database=db,
evaluators=evaluators,
terminal_when=terminal_when,
behaviors=behaviors_tested,
log_eval_avg_every=10,
num_cpus=4,
checkpoint_dir="checkpoints2/",
merge_existing=False)
benchmark_runner.clear_checkpoint_dir()
# one run after 30 steps benchmark dumped
result = benchmark_runner.run(checkpoint_every = 3)
df = result.get_data_frame()
print(df)
self.assertEqual(len(df.index), 40) # 2 Behaviors * 10 Serialize Scenarios * 2 scenario sets
merged_result = BenchmarkRunner.merge_checkpoint_benchmark_results(checkpoint_dir="checkpoints2/")
df = merged_result.get_data_frame()
self.assertEqual(len(df.index), 4*9)
# self.assertEqual(len(merged_result.get_histories()), 4*9)
self.assertEqual(len(merged_result.get_benchmark_configs()), 4*9)
configs_to_run = BenchmarkRunner.get_configs_to_run(benchmark_runner.configs_to_run, merged_result)
self.assertEqual(len(configs_to_run), 4)
ray.shutdown()
benchmark_runner2 = BenchmarkRunnerMP(benchmark_database=db,
evaluators=evaluators,
terminal_when=terminal_when,
behaviors=behaviors_tested,
log_eval_avg_every=1,
checkpoint_dir="checkpoints2/",
merge_existing=True)
result = benchmark_runner2.run(checkpoint_every = 1)
df = result.get_data_frame()
print(df)
self.assertEqual(len(df.index), 40) # 2 Behaviors * 10 Serialize Scenarios * 2 scenario sets
# check if existing result is incorporated for mergin result
merged_result = BenchmarkRunner.merge_checkpoint_benchmark_results(checkpoint_dir="checkpoints2/")
df = merged_result.get_data_frame()
self.assertEqual(len(df.index), 40)
def test_database_runner_python_behavior(self):
dbs = DatabaseSerializer(test_scenarios=4,
test_world_steps=5,
num_serialize_scenarios=2)
dbs.process("data/database1")
local_release_filename = dbs.release(version="test")
db = BenchmarkDatabase(database_root=local_release_filename)
safe_dist_params = ParameterServer(log_if_default=True)
evaluators = {
"success": "EvaluatorGoalReached",
"collision": "EvaluatorCollisionEgoAgent",
"max_steps": "EvaluatorStepCount",
"safe_dist_lon": {
"type": "EvaluatorDynamicSafeDist",
"params": safe_dist_params
},
"safe_dist_lat": {
"type": "EvaluatorStaticSafeDist",
"params": safe_dist_params
}
}
terminal_when = {
"collision": lambda x: x,
"max_steps": lambda x: x > 2,
"safe_dist_lon": lambda x: x
}
params = ParameterServer(
) # only for evaluated agents not passed to scenario!
behaviors_tested = {"python_behavior": PythonDistanceBehavior(params)}
benchmark_runner = BenchmarkRunner(benchmark_database=db,
evaluators=evaluators,
terminal_when=terminal_when,
behaviors=behaviors_tested,
log_eval_avg_every=5,
deepcopy=False)
benchmark_runner.clear_checkpoint_dir()
result = benchmark_runner.run()
df = result.get_data_frame()
print(df)
self.assertEqual(
len(df.index),
1 * 2 * 2) # 2 Behaviors * 2 Serialize Scenarios * 1 scenario sets
result.load_benchmark_configs()
groups = result.get_evaluation_groups()
self.assertEqual(set(groups), set(["behavior", "scen_set"]))
def reset(self, training_env, num_episodes, max_episode_steps, agent):
super(TrainingBenchmarkDatabase, self).reset(training_env, num_episodes, \
max_episode_steps, agent)
benchmark_configs = self.create_benchmark_configs(num_episodes)
evaluators = default_training_evaluators()
if self.evaluators:
evaluators = {**self.evaluators, **evaluators}
terminal_when = default_terminal_criteria(max_episode_steps)
if self.terminal_when:
terminal_when = {**self.terminal_when, **terminal_when}
self.benchmark_runner = BenchmarkRunner(
benchmark_configs=benchmark_configs,
evaluators=evaluators,
terminal_when=terminal_when,
num_scenarios=num_episodes,
log_eval_avg_every=100000000000,
checkpoint_dir="checkpoints",
merge_existing=False,
deepcopy=False)
def reset(self, training_env, num_episodes, max_episode_steps, agent):
super(TrainingBenchmarkDatabase, self).reset(training_env, num_episodes, \
max_episode_steps, agent)
evaluators = default_training_evaluators()
if self.evaluators:
evaluators = {**self.evaluators, **evaluators}
terminal_when = default_terminal_criteria(max_episode_steps)
if self.terminal_when:
terminal_when = {**self.terminal_when, **terminal_when}
self.benchmark_runner = BenchmarkRunner(
benchmark_database=self.
database, # this has priority over scenario generation
scenario_generation=self.training_env._scenario_generator,
evaluators=evaluators,
terminal_when=terminal_when,
num_scenarios=num_episodes,
log_eval_avg_every=100000000000,
checkpoint_dir="checkpoints",
merge_existing=False,
deepcopy=False)
class TrainingBenchmarkDatabase(TrainingBenchmark):
def __init__(self,
benchmark_database=None,
evaluators=None,
terminal_when=None):
self.database = benchmark_database
self.evaluators = evaluators
self.terminal_when = terminal_when
def reset(self, training_env, num_episodes, max_episode_steps, agent):
super(TrainingBenchmarkDatabase, self).reset(training_env, num_episodes, \
max_episode_steps, agent)
evaluators = default_training_evaluators()
if self.evaluators:
evaluators = {**self.evaluators, **evaluators}
terminal_when = default_terminal_criteria(max_episode_steps)
if self.terminal_when:
terminal_when = {**self.terminal_when, **terminal_when}
self.benchmark_runner = BenchmarkRunner(
benchmark_database=self.
database, # this has priority over scenario generation
scenario_generation=self.training_env._scenario_generator,
evaluators=evaluators,
terminal_when=terminal_when,
num_scenarios=num_episodes,
log_eval_avg_every=100000000000,
checkpoint_dir="checkpoints",
merge_existing=False,
deepcopy=False)
def run(self):
mean_return, formatting = super(TrainingBenchmarkDatabase, self).run()
eval_result = self.benchmark_runner.run()
data_frame = eval_result.get_data_frame()
data_frame["max_steps"] = data_frame.Terminal.apply(
lambda x: "max_steps" in x and (not "collision" in x))
data_frame["success"] = data_frame.Terminal.apply(
lambda x: "success" in x and (not "collision" in x) and
(not "max_steps" in x))
data_frame = data_frame.drop(columns=[
"scen_set", "scen_idx", "behavior", "Terminal", "step",
"config_idx"
])
mean = data_frame.mean(axis=0)
eval_result = {**mean.to_dict(), **mean_return}
return eval_result, f"Benchmark Result: {eval_result}"
def is_better(self, eval_result1, than_eval_result2):
pass
def test_database_runner_checkpoint(self):
dbs = DatabaseSerializer(test_scenarios=4,
test_world_steps=5,
num_serialize_scenarios=10)
dbs.process("data/database1")
local_release_filename = dbs.release(version="test")
db = BenchmarkDatabase(database_root=local_release_filename)
evaluators = {
"success": "EvaluatorGoalReached",
"collision": "EvaluatorCollisionEgoAgent",
"max_steps": "EvaluatorStepCount"
}
terminal_when = {
"collision": lambda x: x,
"max_steps": lambda x: x > 2
}
params = ParameterServer(
) # only for evaluated agents not passed to scenario!
behaviors_tested = {
"IDM": BehaviorIDMClassic(params),
"Const": BehaviorConstantAcceleration(params)
}
benchmark_runner = BenchmarkRunner(benchmark_database=db,
evaluators=evaluators,
terminal_when=terminal_when,
behaviors=behaviors_tested,
log_eval_avg_every=20,
checkpoint_dir="checkpoints1/")
benchmark_runner.clear_checkpoint_dir()
# one run after 30 steps benchmark dumped
result = benchmark_runner.run(checkpoint_every=30)
df = result.get_data_frame()
print(df)
self.assertEqual(
len(df.index),
40) # 2 Behaviors * 10 Serialize Scenarios * 2 scenario sets
# check twice first, merging from checkpoints
merged_result = BenchmarkRunner.merge_checkpoint_benchmark_results(
checkpoint_dir="checkpoints1/")
df = merged_result.get_data_frame()
self.assertEqual(len(df.index), 40)
class TrainingBenchmarkDatabase(TrainingBenchmark):
def __init__(self,
benchmark_database=None,
evaluators=None,
terminal_when=None):
self.database = benchmark_database
self.evaluators = evaluators
self.terminal_when = terminal_when
def create_benchmark_configs(self, num_scenarios):
benchmark_configs = []
if self.database:
for scenario_generator, scenario_set_name, scenario_set_param_desc in self.database:
benchmark_configs.extend(self.benchmark_configs_from_scen_gen( \
scenario_generator, scenario_set_name, \
scenario_set_param_desc, num_scenarios))
else:
scenario_generator = self.training_env._scenario_generator
benchmark_configs.extend(self.benchmark_configs_from_scen_gen(
scenario_generator, "training_env", \
{}, num_scenarios))
return benchmark_configs
def benchmark_configs_from_scen_gen(self, scenario_generator, scenario_set_name, \
scenario_set_param_desc, num_scenarios):
benchmark_configs = []
for scenario, scenario_idx in scenario_generator:
if num_scenarios and scenario_idx >= num_scenarios:
break
behavior_config = BehaviorConfig("agent", self.agent, None)
benchmark_config = \
BenchmarkConfig(
len(benchmark_configs),
behavior_config,
scenario,
scenario_idx,
scenario_set_name,
scenario_set_param_desc
)
benchmark_configs.append(benchmark_config)
return benchmark_configs
def reset(self, training_env, num_episodes, max_episode_steps, agent):
super(TrainingBenchmarkDatabase, self).reset(training_env, num_episodes, \
max_episode_steps, agent)
benchmark_configs = self.create_benchmark_configs(num_episodes)
evaluators = default_training_evaluators()
if self.evaluators:
evaluators = {**self.evaluators, **evaluators}
terminal_when = default_terminal_criteria(max_episode_steps)
if self.terminal_when:
terminal_when = {**self.terminal_when, **terminal_when}
self.benchmark_runner = BenchmarkRunner(
benchmark_configs=benchmark_configs,
evaluators=evaluators,
terminal_when=terminal_when,
num_scenarios=num_episodes,
log_eval_avg_every=100000000000,
checkpoint_dir="checkpoints",
merge_existing=False,
deepcopy=False)
def run(self):
mean_return, formatting = super(TrainingBenchmarkDatabase, self).run()
eval_result = self.benchmark_runner.run()
data_frame = eval_result.get_data_frame()
data_frame["max_steps"] = data_frame.Terminal.apply(
lambda x: "max_steps" in x and (not "collision" in x))
data_frame["success"] = data_frame.Terminal.apply(
lambda x: "success" in x and (not "collision" in x) and
(not "max_steps" in x))
data_frame = data_frame.drop(columns=[
"scen_set", "scen_idx", "behavior", "Terminal", "step",
"config_idx"
])
mean = data_frame.mean(axis=0)
eval_result = {**mean.to_dict(), **mean_return}
return eval_result, f"Benchmark Result: {eval_result}"
def is_better(self, eval_result1, than_eval_result2):
pass
try:
from bark.core.models.behavior import BehaviorUCTSingleAgent
behavior_used = BehaviorUCTSingleAgent
except:
print(
"BehaviorUCTSingleAgent not available, rerun example with `bazel run //examples:benchmark_database --define planner_uct=true"
)
exit()
db = BenchmarkDatabase(database_root="external/benchmark_database_release")
evaluators = {
"success": EvaluatorGoalReached,
"collision": EvaluatorCollisionEgoAgent,
"max_steps": EvaluatorStepCount
}
terminal_when = {"collision": lambda x: x, "max_steps": lambda x: x > 2}
scenario_param_file = "uct_planner.json" # must be within examples params folder
params = ParameterServer(
filename=os.path.join("examples/params/", scenario_param_file))
behaviors_tested = {"search5s": behavior_used(params)}
benchmark_runner = BenchmarkRunner(benchmark_database=db,
evaluators=evaluators,
terminal_when=terminal_when,
behaviors=behaviors_tested)
benchmark_runner.run(1)
benchmark_runner.dataframe.to_pickle("uct_planner_results.pickle")
