def usage_graph(ex_cfg, explorations, weight_history, title='no title'):
colors = [graphs.BLUE, graphs.PINK]
window = 100.0
uuid_history = tuple(e[0]['uuid'] for e in explorations)
for i, weights in enumerate(weight_lists):
ex_uuid = weight_history['ex_uuids'][i]
ex_name = weight_history['ex_names'][i]
usage = [t_usage(window, t, ex_uuid, uuid_history) for t in range(len(uuid_history))]
graphs.perf_std(range(len(usage)), usage, [0.0 for _ in usage], color=colors[i], alpha=0.5,
plot_width=1000, plot_height=300, title='usage: {}'.format(title), y_range=(0.0, 1.0))
graphs.hold(True)
graphs.hold(False)
def coverage_graphs(expcfgs_levels, dest='tmp.html', n_graphs=3):
cwd = os.getcwd()
graphs.output_file(dest)
red = '#DF6464'
for level in expcfgs_levels:
for i, exp_cfg in enumerate(level):
n = 0
batch = jobfactory.make_jobgroup([exp_cfg])
os.chdir(os.path.expanduser(exp_cfg.meta.rootpath))
data_hub = hub.DataHub(batch, sensory_only=True)
datas = data_hub.data()
for j, data in enumerate(datas):
if n_graphs is None or n < n_graphs:
for N in [200, 1000]:
print(exp_cfg.exploration.explorer)
n_reuse = exp_cfg.exploration.explorer.eras[0]
s_vectors = [
tools.to_vector(s_signal, data.s_channels)
for s_signal in data.s_signals
][:N]
graphs.coverage(data.s_channels,
exp_cfg.testscov.buffer_size,
s_vectors=s_vectors,
swap_xy=False,
title_text_font_size='6pt',
title='{} {}'.format(
exp_cfg.exp.key, j))
graphs.hold(True)
graphs.spread(data.s_channels,
s_vectors=s_vectors[n_reuse:],
swap_xy=False,
e_radius=2.0)
graphs.hold(True)
graphs.spread(data.s_channels,
s_vectors=s_vectors[:n_reuse],
swap_xy=False,
e_radius=2.0,
e_color=red)
n += 1
os.chdir(cwd)
def adapt_graphs(ex_cfg, explorations, s_vectors, weight_history, mesh=None, title='no title'):
s_channels = ex_cfg.s_channels
tally_dict = {}
for exploration, feedback in explorations:
tally_dict.setdefault(exploration['from'], 0)
tally_dict[exploration['from']] += 1
print(tally_dict)
if ex_cfg.div_algorithm == 'hyperball':
graphs.coverage(s_channels, ex_cfg.threshold, s_vectors=s_vectors, title=title)
else:
assert ex_cfg.div_algorithm == 'grid'
if mesh is not None:
graphs.mesh(mesh, title=title)
graphs.hold(True)
graphs.spread(s_channels, s_vectors=s_vectors, e_radius=1.25, e_alpha=0.75)
# interest measure
colors = [graphs.BLUE, graphs.PINK]
weight_lists = zip(*weight_history['data'])
for i, weights in enumerate(weight_lists):
graphs.perf_std(range(len(weights)), weights, [0.0 for _ in weights],
legend=weight_history['ex_names'][i], color=colors[i], alpha=0.5,
plot_width=1000, plot_height=300, title='diversity: {}'.format(title))
graphs.hold(True)
graphs.hold(False)
# # usage with sliding window
window = 100.0
uuid_history = tuple(e[0]['uuid'] for e in explorations)
for i, weights in enumerate(weight_lists):
ex_uuid = weight_history['ex_uuids'][i]
ex_name = weight_history['ex_names'][i]
usage = [t_usage(window, t, ex_uuid, uuid_history) for t in range(len(uuid_history))]
graphs.perf_std(range(len(usage)), usage, [0.0 for _ in usage], color=colors[i], alpha=0.5,
plot_width=1000, plot_height=300, title='usage: {}'.format(title), y_range=(0.0, 1.0))
graphs.hold(True)
graphs.hold(False)
# print('{} {:.3f}'.format(env_name, np.average(errors)))
return tally_dict
def perf_graphs(sources, targets, mb_steps=200, y_maxs=(360000, 200000)):
already = False
for (env_name, ex_name), results in targets.items():
exp_cfg = results['exp_cfg']
if not exp_cfg.exp.explorer_name.startswith('reuse.random'):
if len(exp_cfg.exp.key[1]) != 0:
if not already:
already = False
src_results = sources[(exp_cfg.exp.env_name,
'random.goal_{}'.format(mb_steps))]
y_max = y_maxs[0] if exp_cfg.exp.env_name.startswith(
'dov_ball') else y_maxs[1]
graphs.perf_astd(src_results['ticks'],
src_results['avg'],
src_results['astd'],
color=graphs.NOREUSE_COLOR,
plot_width=1000,
plot_height=500,
x_range=(0, exp_cfg.job.steps),
y_range=(0, y_max),
title='{}'.format(exp_cfg.exp.key))
graphs.hold(True)
print('{}::{} {}'.format(exp_cfg.exp.env_name,
exp_cfg.exp.explorer_name,
results['avg'][-1]))
graphs.bokeh_astds(results['ticks'],
results['avg'],
results['astd'],
color=graphs.REUSE_COLOR)
graphs.hold(True)
random_key = randomit(exp_cfg.exp.key)
if random_key in targets:
random_results = targets[random_key]
graphs.perf_astd(random_results['ticks'],
random_results['avg'],
random_results['astd'],
color=graphs.RANDREUSE_COLOR)
graphs.hold(False)
for ex_name in ['random.goal']:
random.seed(0)
# instanciating the environment
env_name, env_cfg = envs.kin(dim=DIM, limit=LIMIT)
env = environments.Environment.create(env_cfg)
# instanciating the explorer
ex_cfg = exs.catalog[ex_name]._deepcopy()
ex_cfg.m_channels = env.m_channels
ex_cfg.s_channels = env.s_channels
ex = explorers.Explorer.create(ex_cfg)
# running exploration
explorations, s_vectors, s_goals = factored.run_exploration(env, ex, N, verbose=True)
# making graphs
for t1, t2 in [(0, 100), (100, N)]:
alpha = 1.0 if t2 == 100 else 0.25
graphs.posture_random(env, explorations[t1:t2], n=10,
alpha=0.75, radius_factor=0.35)
graphs.hold(True)
graphs.bokeh_spread(env.s_channels, s_vectors=s_vectors[:t2],
e_radius=1.5, e_alpha=alpha,
x_range=(-1.05, 1.05), y_range=(-1.05, 1.05),
title='{}::{}'.format(ex_name, env_name))
graphs.show()
# Graph of reused effects in first env
s_vectors0 = []
for explo in explorations[:MB]:
feedback = env0.execute(explo[0]['m_signal'])
s_vectors0.append(
explorers.tools.to_vector(feedback['s_signal'], env0.s_channels))
graphs.spread(env.s_channels,
s_vectors=s_vectors0[:MB],
e_radius=3.0,
e_alpha=1.0,
e_color='#DF6464',
title='first arm - reused effects')
for e in explorations[:MB]:
graphs.hold(True)
graphs.posture_signals(env0, [e[0]['m_signal']],
alpha=ARM_ALPHA,
radius_factor=0.75)
graphs.hold(True)
graphs.spread(env.s_channels,
s_vectors=s_vectors0[:MB],
grid=False,
e_radius=3.0,
e_alpha=1.0,
e_color='#DF6464')
graphs.hold(False)
# Graph Reuse
for t in [MB, 200, 400, N]:
min_avgs[env_key] = data['avg'][index]
min_stds[env_key] = data['std'][index]
for env_key in env_keys:
ps[env_key] = sorted(ps[env_key])
avgs[env_key] = np.array([avgs[env_key][p] for p in ps[env_key]])
stds[env_key] = np.array([stds[env_key][p] for p in ps[env_key]])
os.chdir(cwd)
return env_keys, ps, avgs, stds, min_avgs, min_stds
if __name__ == '__main__':
env_keys, ps, avgs, stds, min_avgs, min_stds = load_data('nn')
colors = [graphs.BLUE, graphs.PINK, graphs.GREEN]
graphs.output_file('fixed_graph.html')
env_displayed = [env_key for env_key in env_keys if env_key[0] == 'kin20_150' and env_key[2] == 5000]
for color, envd in zip(colors, env_displayed):
print(avgs[envd])
y_max = max(avgs[envd] + stds[envd])
graphs.perf_std_discrete(ps[envd], avgs[envd], stds[envd], std_width=0.0035, color=color,
y_range=[0.0, y_max+0.02], plot_width=1000, plot_height=500, title='{} {}'.format(*envd))
graphs.hold(True)
graphs.show()
for N in Ns:
index = data['ticks'].index(N)
adapt_avgs[(d, N)] = data['avg'][index]
adapt_stds[(d, N)] = data['std'][index]
os.chdir(cwd)
for d in disturbs:
for N in Ns:
print('N={}: {} +- {}'.format(N, adapt_avgs[(d, N)], adapt_stds[(d, N)]))
if __name__ == '__main__':
graphs.output_file('ddmab_graph.html')
y_ranges=[(0.075, 0.3), (0.0, 0.1), (0.08, 0.14)]
for i, d in enumerate(disturbs):
y_range = y_ranges[i]
for N in Ns:
graphs.perf_std_discrete([100*i*0.05 for i in range(21)],
avgs[('kin20_150', d, N)], stds[('kin20_150', d, N)],
std_width=0.25, alpha=0.5, y_range=y_range,
plot_height=300, title='d={} t={}'.format(d, N))
graphs.hold(True)
graphs.line([0, 100], adapt_avgs[(d, N)], adapt_stds[(d, N)])
graphs.hold(False)
graphs.show()
