def train_pointwise(**kwargs):
"""Train a policy with a specific curriculum
strategy (random, etc),
policy training method (trpo, ppo, etc), and start state sampling
strategy (uniform, weighted by value function, etc).
"""
problem = kwargs["problem"];
initial_policy = kwargs["initial_policy"];
goal_state = kwargs["goal_state"];
full_start_dist = kwargs["full_start_dist"];
N_new, N_old = kwargs["N_new"], kwargs["N_old"];
R_min, R_max = kwargs["R_min"], kwargs["R_max"];
num_iters = kwargs["num_iters"];
num_ppo_iters = kwargs["num_ppo_iters"];
curriculum_strategy = kwargs["curriculum_strategy"];
train_algo = kwargs["train_algo"];
start_distribution = kwargs["start_distribution"];
debug = kwargs["debug"];
data_logger = kwargs["data_logger"];
# Keyword arguments for the curriculum strategy.
curric_kwargs = defaultdict(lambda: None)
# Not used in algorithm, only for visualization.
all_starts = [goal_state]
old_starts = [goal_state]
starts = [goal_state]
pi_i = initial_policy
overall_perf, overall_area = list(), list()
ppo_perf, ppo_lens, ppo_rews = list(), list(), list()
perf_metric = 0.0
i = 0
ppo_iter_count = 0;
pi_i.save_model(MODEL_DIR, iteration=i);
while i < num_iters:
# while perf_metric < args.finish_threshold and i < num_iters:
print('Training Iteration %d' % i, flush=True)
data_logger.update_indices({"overall_iter": i, "ppo_iter": ppo_iter_count})
new_starts = curriculum_strategy(starts, N_new, problem)
if debug and len(new_starts) > 0:
visualize_starts(new_starts, problem,
figfile=os.path.join(FIGURES_DIR, 'curric_starts_iter_%d' % i))
from_replay = sample(old_starts, size=N_old)
starts = new_starts + from_replay
if debug:
visualize_starts(new_starts, problem,
old_starts=from_replay,
old_start_color='orange',
old_start_name='Replay Starts',
figfile=os.path.join(FIGURES_DIR, 'replay_and_curric_starts_iter_%d' % i))
visualize_starts(None, problem,
old_starts=all_starts,
old_start_color='grey',
old_start_name='Old Starts',
figfile=os.path.join(FIGURES_DIR, 'previous_starts_iter_%d' % i))
rho_i = list(zip(starts, start_distribution(starts)))
pi_i, rewards_map, ep_mean_lens, ep_mean_rews = train_step(rho_i, pi_i, train_algo, problem, num_ppo_iters=num_ppo_iters)
if debug:
if problem.env_name == 'DrivingOrigin-v0':
visualize_starts(starts, problem,
rewards_map=rewards_map,
figfile=os.path.join(FIGURES_DIR, 'start_rews_iter_%d' % i))
visualize_rollouts([sample(starts)], pi_i, problem,
figfile=os.path.join(FIGURES_DIR, 'rollouts_iter_%d' % i))
data_logger.save_to_npy('curr_starts', starts);
all_starts.extend(starts)
total_unique_starts = len(dedupe_list_of_np_arrays(starts))
starts = select(starts, rewards_map, R_min, R_max, problem)
successful_starts = len(starts)
pct_successful = float(successful_starts)/total_unique_starts;
old_starts.extend(starts)
ppo_perf.append(pct_successful*100.)
ppo_lens.extend(ep_mean_lens)
ppo_rews.extend(ep_mean_rews)
if debug:
plot_performance(range(len(ppo_perf)), ppo_perf, ylabel=r'% Successful Starts', xlabel=r'PPO Iteration ($\times %d$)' % num_ppo_iters, figfile=os.path.join(FIGURES_DIR, 'ppo_pct_succ_iter_%d' % i))
plot_performance(range(len(ppo_lens)), ppo_lens, ylabel=r'Avg. Episode Length', xlabel='PPO Iteration', figfile=os.path.join(FIGURES_DIR, 'ppo_avg_lens_iter_%d' % i))
plot_performance(range(len(ppo_rews)), ppo_rews, ylabel=r'Avg. Episode Reward', xlabel='PPO Iteration', figfile=os.path.join(FIGURES_DIR, 'ppo_avg_rews_iter_%d' % i))
data_logger.save_to_npy('all_starts', all_starts);
data_logger.save_to_npy('old_starts', old_starts);
data_logger.save_to_npy('selected_starts', starts);
data_logger.save_to_npy('new_starts', new_starts);
data_logger.save_to_npy('from_replay', from_replay);
ppo_iter_count += num_ppo_iters;
perf_metric = evaluate(pi_i,
full_start_dist,
problem,
debug=debug,
figfile=os.path.join(FIGURES_DIR, 'eval_iter_%d' % i))
# Format is (min_x, max_x, min_y, max_y)
all_starts_bbox = bounding_box(all_starts)
min_x = problem.state_space.low[X_IDX]
max_x = problem.state_space.high[X_IDX]
min_y = problem.state_space.low[Y_IDX]
max_y = problem.state_space.high[Y_IDX]
area_coverage = bounding_box_area(all_starts_bbox) / bounding_box_area((min_x, max_x, min_y, max_y))
overall_perf.append(perf_metric)
overall_area.append(area_coverage*100.)
data_logger.add_rows({'overall_perf': [perf_metric], 'overall_area': [area_coverage],
'ppo_perf': [pct_successful], 'ppo_lens': ep_mean_lens, 'ppo_rews': ep_mean_rews},
update_indices=['ppo_iter'])
if debug:
plot_performance(range(len(overall_perf)), overall_perf, ylabel=r'% Successful Starts', xlabel='Iteration', figfile=os.path.join(FIGURES_DIR, 'overall_perf'))
plot_performance(range(len(overall_area)), overall_area, ylabel=r'% State Space Sampled', xlabel='Iteration', figfile=os.path.join(FIGURES_DIR, 'overall_area'))
print('[Overall Iter %d]: perf_metric = %.2f | Area Coverage = %.2f%%' % (i, perf_metric, area_coverage*100.));
# Incrementing our algorithm's loop counter.
i += 1;
data_logger.save_to_file();
pi_i.save_model(MODEL_DIR, iteration=i);
return pi_i
def train_gridwise(**kwargs):
"""Train a policy with a specific curriculum
strategy (backward reachable, etc),
policy training method (trpo, ppo, etc), and start state sampling
strategy (uniform, weighted by value function, etc).
"""
problem = kwargs["problem"];
initial_policy = kwargs["initial_policy"];
goal_state = kwargs["goal_state"];
full_start_dist = kwargs["full_start_dist"];
N_new, N_old = kwargs["N_new"], kwargs["N_old"];
R_min, R_max = kwargs["R_min"], kwargs["R_max"];
num_iters = kwargs["num_iters"];
num_ppo_iters = kwargs["num_ppo_iters"];
curriculum_strategy = kwargs["curriculum_strategy"];
train_algo = kwargs["train_algo"];
#start_distribution = kwargs["start_distribution"];
start_distribution = uniform
debug = kwargs["debug"];
data_logger = kwargs["data_logger"];
# Keyword arguments for the curriculum strategy.
curric_kwargs = defaultdict(lambda: None)
curric_kwargs["debug"] = debug
if curriculum_strategy == backward_reachable:
br_engine = BackreachEngine()
br_engine.reset_variables(problem, os.path.join(FIGURES_DIR, ''))
curric_kwargs['br_engine'] = br_engine
curric_kwargs['curr_train_iter'] = 0
curric_kwargs['brs_sample'] = args.brs_sample
curric_kwargs['variation'] = args.variation
curric_kwargs['problem'] = problem
# Not used in algorithm, only for visualization.
all_starts = [goal_state]
old_starts = [goal_state]
starts = [goal_state]
pi_i = initial_policy
overall_perf, overall_area = list(), list()
perf_metric = 0.0
i = 0
pi_i.save_model(MODEL_DIR, iteration=i);
while i < num_iters:
# while perf_metric < args.finish_threshold and i < num_iters:
print('Training Iteration %d' % i, flush=True);
data_logger.update_indices({"overall_iter": i})
if 'curr_train_iter' in curric_kwargs:
curric_kwargs['curr_train_iter'] = i;
# I've split apart the following call into two separate ones.
# new_starts = curriculum_strategy(starts, N_new, problem, **curric_kwargs)
if curriculum_strategy == backward_reachable:
update_back_rectangle(delta_t=0.1, **curric_kwargs)
#data_logger.save_to_npy('brs_targets', starts);
pct_successful = 0.0;
iter_count = 0;
ppo_perf, ppo_lens, ppo_rews = list(), list(), list()
# Think of this as "while (haven't passed this grade)"
while pct_successful < 0.5:
data_logger.update_indices({"ppo_iter": iter_count})
if curriculum_strategy == backward_reachable:
new_starts = sample_from_back_rectangle(N_new, **curric_kwargs);
########################## haven't finished the visualization part for rectangle ##########################
# if debug:
# br_engine.visualize_grids(os.path.join(FIGURES_DIR, ''), '_iter_%d_ppo_iter_%d' % (i, iter_count))
#
# if debug:
# visualize_starts(new_starts, problem,
# figfile=os.path.join(FIGURES_DIR, 'curric_starts_iter_%d_ppo_iter_%d' % (i, iter_count)))
########################## haven't finished the visualization part for rectangle ##########################
if args.variation == 2 and br_engine.check_membership(np.array([problem.env.unwrapped.start_state])):
print('Variation 2 condition train.py!', flush=True)
from_replay = list()
starts = [problem.env.unwrapped.start_state]
else:
from_replay = sample(old_starts, size=N_old)
starts = new_starts + from_replay
########################## haven't finished the visualization part for rectangle ##########################
if debug:
visualize_starts(new_starts, problem,
old_starts=from_replay,
old_start_color='orange',
old_start_name='Replay Starts',
figfile=os.path.join(FIGURES_DIR, 'replay_and_curric_starts_iter_%d_ppo_iter_%d' % (i, iter_count)))
visualize_starts(None, problem,
old_starts=all_starts,
old_start_color='grey',
old_start_name='Old Starts',
old_start_alpha=0.2,
with_arrows=False,
figfile=os.path.join(FIGURES_DIR, 'previous_starts_iter_%d_ppo_iter_%d' % (i, iter_count)))
########################## haven't finished the visualization part for rectangle ##########################
a = [1./len(starts)]*len(starts)
#rho_i = list(zip(starts, start_distribution(starts)))
rho_i = list(zip(starts, a))
pi_i, rewards_map, ep_mean_lens, ep_mean_rews = train_step(rho_i, pi_i, train_algo, problem, num_ppo_iters=num_ppo_iters)
########################## haven't finished the visualization part for rectangle ##########################
if debug:
if problem.env_name == 'DrivingOrigin-v0':
visualize_starts(starts, problem,
rewards_map=rewards_map,
figfile=os.path.join(FIGURES_DIR, 'start_rews_iter_%d_ppo_iter_%d' % (i, iter_count)))
visualize_rollouts([sample(starts)], pi_i, problem,
figfile=os.path.join(FIGURES_DIR, 'rollouts_iter_%d_ppo_iter_%d' % (i, iter_count)))
########################## haven't finished the visualization part for rectangle ##########################
data_logger.save_to_npy('curr_starts', starts);
all_starts.extend(starts)
total_unique_starts = len(dedupe_list_of_np_arrays(starts))
starts = select(starts, rewards_map, R_min, R_max, problem)
successful_starts = len(starts)
pct_successful = float(successful_starts)/total_unique_starts;
ppo_perf.append(pct_successful*100.)
ppo_lens.extend(ep_mean_lens)
ppo_rews.extend(ep_mean_rews)
data_logger.add_rows({'ppo_perf': [pct_successful], 'ppo_lens': ep_mean_lens, 'ppo_rews': ep_mean_rews}, update_indices=['ppo_iter'])
if debug:
plot_performance(range(len(ppo_perf)), ppo_perf, ylabel=r'% Successful Starts', xlabel=r'PPO Iteration ($\times %d$)' % num_ppo_iters, figfile=os.path.join(FIGURES_DIR, 'ppo_pct_succ_iter_%d' % i))
plot_performance(range(len(ppo_lens)), ppo_lens, ylabel=r'Avg. Episode Length', xlabel='PPO Iteration', figfile=os.path.join(FIGURES_DIR, 'ppo_avg_lens_iter_%d' % i))
plot_performance(range(len(ppo_rews)), ppo_rews, ylabel=r'Avg. Episode Reward', xlabel='PPO Iteration', figfile=os.path.join(FIGURES_DIR, 'ppo_avg_rews_iter_%d' % i))
data_logger.save_to_npy('all_starts', all_starts);
data_logger.save_to_npy('old_starts', old_starts);
data_logger.save_to_npy('selected_starts', starts);
data_logger.save_to_npy('new_starts', new_starts);
data_logger.save_to_npy('from_replay', from_replay);
iter_count += num_ppo_iters;
print('[PPO Iter %d]: %.2f%% Successful Starts (%d / %d)' % (iter_count, pct_successful*100., successful_starts, total_unique_starts));
# This final update is so we get the last iter_count correctly after jumping out of the while loop.
data_logger.update_indices({"ppo_iter": iter_count})
# Ok, we've graduated!
old_starts.extend(starts)
perf_metric, overall_reward = evaluate(pi_i,
full_start_dist,
problem,
debug=debug,
figfile=os.path.join(FIGURES_DIR, 'eval_iter_%d' % i))
# Format is (min_x, max_x, min_y, max_y)
all_starts_bbox = bounding_box(all_starts)
min_x = problem.state_space.low[X_IDX]
max_x = problem.state_space.high[X_IDX]
min_y = problem.state_space.low[Y_IDX]
max_y = problem.state_space.high[Y_IDX]
area_coverage = bounding_box_area(all_starts_bbox) / bounding_box_area((min_x, max_x, min_y, max_y))
overall_perf.append(perf_metric)
overall_area.append(area_coverage*100.)
data_logger.add_rows({'overall_perf': [perf_metric], 'overall_area': [area_coverage],
'overall_reward': [overall_reward]})
if debug:
plot_performance(range(len(overall_perf)), overall_perf, ylabel=r'% Successful Starts', xlabel='Iteration', figfile=os.path.join(FIGURES_DIR, 'overall_perf'))
plot_performance(range(len(overall_area)), overall_area, ylabel=r'% State Space Sampled', xlabel='Iteration', figfile=os.path.join(FIGURES_DIR, 'overall_area'))
print('[Overall Iter %d]: perf_metric = %.2f | Area Coverage = %.2f%%' % (i, perf_metric, area_coverage*100.));
# Incrementing our algorithm's loop counter.
i += 1;
data_logger.save_to_file();
pi_i.save_model(MODEL_DIR, iteration=i);
# Done!
if curriculum_strategy == backward_reachable:
br_engine.stop();
del br_engine;
return pi_i
def train_gridwise(**kwargs):
"""Train a policy with a specific curriculum
strategy (backward reachable, etc),
policy training method (trpo, ppo, etc), and start state sampling
strategy (uniform, weighted by value function, etc).
"""
problem = kwargs["problem"]
initial_policy = kwargs["initial_policy"]
goal_state = kwargs["goal_state"]
full_start_dist = kwargs["full_start_dist"]
N_new, N_old = kwargs["N_new"], kwargs["N_old"]
R_min, R_max = kwargs["R_min"], kwargs["R_max"]
num_iters = kwargs["num_iters"]
num_ppo_iters = kwargs["num_ppo_iters"]
curriculum_strategy = kwargs["curriculum_strategy"]
train_algo = kwargs["train_algo"]
start_distribution = kwargs["start_distribution"]
debug = kwargs["debug"]
data_logger = kwargs["data_logger"]
gl_ppo_rewards = []
gl_overall_perf = []
# Keyword arguments for the curriculum strategy.
curric_kwargs = defaultdict(lambda: None)
curric_kwargs["debug"] = debug
if curriculum_strategy == backward_reachable:
br_engine = BackreachEngine()
br_engine.reset_variables(problem, os.path.join(FIGURES_DIR, ''))
curric_kwargs['br_engine'] = br_engine
curric_kwargs['curr_train_iter'] = 0
curric_kwargs['brs_sample'] = args.brs_sample
curric_kwargs['variation'] = args.variation
curric_kwargs['problem'] = problem
# Not used in algorithm, only for visualization.
all_starts = [goal_state]
old_starts = [goal_state]
starts = [goal_state]
pi_i = initial_policy
overall_perf, overall_area = list(), list()
perf_metric = 0.0
i = 0
pi_i.save_model(MODEL_DIR, iteration=i)
# Note: here is a list contains distance for each algo iter --> [[size = 300]*num_iter]
gl_samples_dist = []
# Note: open an figure object outside of loop
plt.figure()
plt.ion()
while i < num_iters:
# while perf_metric < args.finish_threshold and i < num_iters:
print('Training Iteration %d' % i)
data_logger.update_indices({"overall_iter": i})
if 'curr_train_iter' in curric_kwargs:
curric_kwargs['curr_train_iter'] = i
# I've split apart the following call into two separate ones.
# new_starts = curriculum_strategy(starts, N_new, problem, **curric_kwargs)
if curriculum_strategy == backward_reachable:
update_backward_reachable_set(starts, **curric_kwargs)
data_logger.save_to_npy('brs_targets', starts)
pct_successful = 0.0
iter_count = 0
ppo_perf, ppo_lens, ppo_rews = list(), list(), list()
sample_dis = list()
# Think of this as "while (haven't passed this grade)"
while pct_successful < 0.5:
data_logger.update_indices({"ppo_iter": iter_count})
if curriculum_strategy == backward_reachable:
new_starts = sample_from_backward_reachable_set(
N_new, **curric_kwargs)
if debug:
br_engine.visualize_grids(
os.path.join(FIGURES_DIR, ''),
'_iter_%d_ppo_iter_%d' % (i, iter_count))
if debug:
visualize_starts(
new_starts,
problem,
figfile=os.path.join(
FIGURES_DIR,
'curric_starts_iter_%d_ppo_iter_%d' % (i, iter_count)))
if args.variation == 2 and br_engine.check_membership(
np.array([problem.env.unwrapped.start_state])):
print('Variation 2 condition train.py!')
from_replay = list()
starts = [problem.env.unwrapped.start_state]
else:
from_replay = sample(old_starts, size=N_old)
starts = new_starts + from_replay
if debug:
visualize_starts(
new_starts,
problem,
old_starts=from_replay,
old_start_color='orange',
old_start_name='Replay Starts',
figfile=os.path.join(
FIGURES_DIR,
'replay_and_curric_starts_iter_%d_ppo_iter_%d' %
(i, iter_count)))
visualize_starts(None,
problem,
old_starts=all_starts,
old_start_color='grey',
old_start_name='Old Starts',
old_start_alpha=0.2,
with_arrows=False,
figfile=os.path.join(
FIGURES_DIR,
'previous_starts_iter_%d_ppo_iter_%d' %
(i, iter_count)))
rho_i = list(zip(starts, start_distribution(starts)))
pi_i, rewards_map, ep_mean_lens, ep_mean_rews = train_step(
rho_i, pi_i, train_algo, problem, num_ppo_iters=num_ppo_iters)
# Note: here we compute distance between samples' pos and start's pos in one algo iter
for ind in range(len(starts)):
tmp_p1 = (starts[ind][0], starts[ind][2])
tmp_p2 = (full_start_dist[0][0][0], full_start_dist[0][0][2])
sample_dis.append(Euclid_dis(tmp_p1, tmp_p2))
if debug:
if problem.env_name == 'DrivingOrigin-v0':
visualize_starts(starts,
problem,
rewards_map=rewards_map,
figfile=os.path.join(
FIGURES_DIR,
'start_rews_iter_%d_ppo_iter_%d' %
(i, iter_count)))
visualize_rollouts(
[sample(starts)],
pi_i,
problem,
figfile=os.path.join(
FIGURES_DIR,
'rollouts_iter_%d_ppo_iter_%d' % (i, iter_count)))
data_logger.save_to_npy('curr_starts', starts)
all_starts.extend(starts)
total_unique_starts = len(dedupe_list_of_np_arrays(starts))
starts = select(starts, rewards_map, R_min, R_max, problem)
successful_starts = len(starts)
pct_successful = float(successful_starts) / total_unique_starts
ppo_perf.append(pct_successful * 100.)
ppo_lens.extend(ep_mean_lens)
ppo_rews.extend(ep_mean_rews)
data_logger.add_rows(
{
'ppo_perf': [pct_successful],
'ppo_lens': ep_mean_lens,
'ppo_rews': ep_mean_rews
},
update_indices=['ppo_iter'])
if debug:
plot_performance(
range(len(ppo_perf)),
ppo_perf,
ylabel=r'% Successful Starts',
xlabel=r'PPO Iteration ($\times %d$)' % num_ppo_iters,
figfile=os.path.join(FIGURES_DIR,
'ppo_pct_succ_iter_%d' % i))
plot_performance(range(len(ppo_lens)),
ppo_lens,
ylabel=r'Avg. Episode Length',
xlabel='PPO Iteration',
figfile=os.path.join(
FIGURES_DIR, 'ppo_avg_lens_iter_%d' % i))
plot_performance(range(len(ppo_rews)),
ppo_rews,
ylabel=r'Avg. Episode Reward',
xlabel='PPO Iteration',
figfile=os.path.join(
FIGURES_DIR, 'ppo_avg_rews_iter_%d' % i))
# NOTE: modified for save global data
for it in range(len(ppo_rews)):
gl_ppo_rewards.append(ppo_rews[it])
data_logger.save_to_npy('all_starts', all_starts)
data_logger.save_to_npy('old_starts', old_starts)
data_logger.save_to_npy('selected_starts', starts)
data_logger.save_to_npy('new_starts', new_starts)
data_logger.save_to_npy('from_replay', from_replay)
iter_count += num_ppo_iters
print('[PPO Iter %d]: %.2f%% Successful Starts (%d / %d)' %
(iter_count, pct_successful * 100., successful_starts,
total_unique_starts))
# This final update is so we get the last iter_count correctly after jumping out of the while loop.
data_logger.update_indices({"ppo_iter": iter_count})
# Ok, we've graduated!
old_starts.extend(starts)
perf_metric, rollout_count = evaluate(pi_i,
full_start_dist,
problem,
debug=debug,
figfile=os.path.join(
FIGURES_DIR,
'eval_iter_%d' % i))
# Note: here I save trained policy in each algo iter into pk file.
# pkl.dump(pi_i, open(os.path.join(POLICY_DIR, 'policy_iter_%d' % i), 'wb'))
# Format is (min_x, max_x, min_y, max_y)
all_starts_bbox = bounding_box(all_starts)
min_x = problem.state_space.low[X_IDX]
max_x = problem.state_space.high[X_IDX]
min_y = problem.state_space.low[Y_IDX]
max_y = problem.state_space.high[Y_IDX]
area_coverage = bounding_box_area(all_starts_bbox) / bounding_box_area(
(min_x, max_x, min_y, max_y))
overall_perf.append(perf_metric)
overall_area.append(area_coverage * 100.)
data_logger.add_rows({
'overall_perf': [perf_metric],
'overall_area': [area_coverage]
})
# NOTE: modified for save global data
gl_overall_perf = overall_perf
gl_overall_area = overall_area
gl_samples_dist.append(sample_dis)
# NOTE: show the samples distribution stage by stage
if i > 0 and not (i + 1) % 5:
plt.cla()
show_dis = []
for ind in range(5 * (i // 5), len(gl_samples_dist)):
show_dis.extend(gl_samples_dist[ind])
sns_plot = sns.distplot(show_dis, rug=True)
sns_plot.figure.savefig(FIGURES_DIR + '/dist_iter' + str(i) +
'.png')
print("saving the distance plot")
# sns.distplot(show_dis, rug=True)
#print("showing the distance distribution")
plt.pause(0.1)
if debug:
plot_performance(range(len(overall_perf)),
overall_perf,
ylabel=r'% Successful Starts',
xlabel='Iteration',
figfile=os.path.join(FIGURES_DIR, 'overall_perf'))
plot_performance(range(len(overall_area)),
overall_area,
ylabel=r'% State Space Sampled',
xlabel='Iteration',
figfile=os.path.join(FIGURES_DIR, 'overall_area'))
print(
'[Overall Iter %d]: perf_metric = %.2f | Area Coverage = %.2f%%' %
(i, perf_metric, area_coverage * 100.))
# Incrementing our algorithm's loop counter.
i += 1
data_logger.save_to_file()
pi_i.save_model(MODEL_DIR, iteration=i)
# Done!
# NOTE: global plotting performance
plot_performance(range(len(gl_ppo_rewards)),
gl_ppo_rewards,
ylabel=r'Avg Reward per training step',
xlabel='Iteration',
figfile=os.path.join(FIGURES_DIR, 'global_ppo_rewards'),
pickle=True)
plot_performance(range(len(gl_overall_perf)),
gl_overall_perf,
ylabel=r'Avg Eval Reward from start state',
xlabel='Iteration',
figfile=os.path.join(FIGURES_DIR, 'global_overall_perf'),
pickle=True)
plot_performance(range(len(gl_overall_area)),
gl_overall_area,
ylabel=r'State Space Sampled',
xlabel='Iteration',
figfile=os.path.join(FIGURES_DIR, 'gl_overall_area'),
pickle=True)
if curriculum_strategy == backward_reachable:
br_engine.stop()
del br_engine
plt.ioff()
return pi_i