def ball_cube_hard(path='frontiers2016/objects/hard', rep=4): 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
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
def ball_cube_hard(path='frontiers2016/objects/hard', rep=4): 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
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',))
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",), )
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',))
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',))
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',))
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',))
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
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', ))
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', ))
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', ))
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', ))