def save_all(outputs, global_step, output_dir, metric_summary, N):
"""Save numerous statistics.
Args:
outputs : [locs, goal_loc, gt_dist_to_goal, node_ids, perturbs]
global_step : number of iterations.
output_dir : output directory.
metric_summary : to append scalars to summary.
N : number of outputs to process.
"""
all_locs = np.concatenate(map(lambda x: x[0], outputs), axis=0)
all_goal_locs = np.concatenate(map(lambda x: x[1], outputs), axis=0)
all_d_at_t = np.concatenate(map(lambda x: x[2][:, :, 0] * 1, outputs),
axis=0)
all_node_ids = np.concatenate(map(lambda x: x[3], outputs), axis=0)
all_perturbs = np.concatenate(map(lambda x: x[4], outputs), axis=0)
file_name = os.path.join(output_dir,
'all_locs_at_t_{:d}.pkl'.format(global_step))
vars = [all_locs, all_goal_locs, all_d_at_t, all_node_ids, all_perturbs]
var_names = [
'all_locs', 'all_goal_locs', 'all_d_at_t', 'all_node_ids',
'all_perturbs'
]
utils.save_variables(file_name, vars, var_names, overwrite=True)
return None
def save_d_at_t(outputs, global_step, output_dir, metric_summary, N):
"""Save distance to goal at all time steps.
Args:
outputs : [gt_dist_to_goal].
global_step : number of iterations.
output_dir : output directory.
metric_summary : to append scalars to summary.
N : number of outputs to process.
"""
d_at_t = np.concatenate(map(lambda x: x[0][:, :, 0] * 1, outputs), axis=0)
fig, axes = utils.subplot(plt, (1, 1), (5, 5))
axes.plot(np.arange(d_at_t.shape[1]), np.mean(d_at_t, axis=0), 'r.')
axes.set_xlabel('time step')
axes.set_ylabel('dist to next goal')
axes.grid('on')
file_name = os.path.join(output_dir,
'dist_at_t_{:d}.png'.format(global_step))
with fu.fopen(file_name, 'w') as f:
fig.savefig(f, bbox_inches='tight', transparent=True, pad_inches=0)
file_name = os.path.join(output_dir,
'dist_at_t_{:d}.pkl'.format(global_step))
utils.save_variables(file_name, [d_at_t], ['d_at_t'], overwrite=True)
plt.close(fig)
return None
def plot_trajectory(dt, hardness, orig_maps, out_dir):
out_dir = os.path.join(out_dir, FLAGS.config_name+_get_suffix_str(),
FLAGS.imset)
fu.makedirs(out_dir)
out_file = os.path.join(out_dir, 'all_locs_at_t.pkl')
dt['hardness'] = hardness
utils.save_variables(out_file, dt.values(), dt.keys(), overwrite=True)
#Plot trajectories onto the maps
plt.set_cmap('gray')
for i in range(4000):
goal_loc = dt['all_goal_locs'][i, :, :]
locs = np.concatenate((dt['all_locs'][i,:,:],
dt['all_locs'][i,:,:]), axis=0)
xymin = np.minimum(np.min(goal_loc, axis=0), np.min(locs, axis=0))
xymax = np.maximum(np.max(goal_loc, axis=0), np.max(locs, axis=0))
xy1 = (xymax+xymin)/2. - 1.*np.maximum(np.max(xymax-xymin), 24)
xy2 = (xymax+xymin)/2. + 1.*np.maximum(np.max(xymax-xymin), 24)
fig, ax = utils.tight_imshow_figure(plt, figsize=(6,6))
ax.set_axis_on()
ax.patch.set_facecolor((0.333, 0.333, 0.333))
ax.set_xticks([])
ax.set_yticks([])
all_locs = dt['all_locs'][i,:,:]*1
uniq = np.where(np.any(all_locs[1:,:] != all_locs[:-1,:], axis=1))[0]+1
uniq = np.sort(uniq).tolist()
uniq.insert(0,0)
uniq = np.array(uniq)
all_locs = all_locs[uniq, :]
ax.plot(dt['all_locs'][i, 0, 0],
dt['all_locs'][i, 0, 1], 'b.', markersize=24)
ax.plot(dt['all_goal_locs'][i, 0, 0],
dt['all_goal_locs'][i, 0, 1], 'g*', markersize=19)
ax.plot(all_locs[:,0], all_locs[:,1], 'r', alpha=0.4, linewidth=2)
ax.scatter(all_locs[:,0], all_locs[:,1],
c=5+np.arange(all_locs.shape[0])*1./all_locs.shape[0],
cmap='Reds', s=30, linewidth=0)
ax.imshow(orig_maps, origin='lower', vmin=-1.0, vmax=2.0, aspect='equal')
ax.set_xlim([xy1[0], xy2[0]])
ax.set_ylim([xy1[1], xy2[1]])
file_name = os.path.join(out_dir, 'trajectory_{:04d}.png'.format(i))
print(file_name)
with fu.fopen(file_name, 'w') as f:
plt.savefig(f)
plt.close(fig)
def plot_trajectory(dt, hardness, orig_maps, out_dir):
out_dir = os.path.join(out_dir, FLAGS.config_name+_get_suffix_str(),
FLAGS.imset)
fu.makedirs(out_dir)
out_file = os.path.join(out_dir, 'all_locs_at_t.pkl')
dt['hardness'] = hardness
utils.save_variables(out_file, dt.values(), dt.keys(), overwrite=True)
#Plot trajectories onto the maps
plt.set_cmap('gray')
for i in range(4000):
goal_loc = dt['all_goal_locs'][i, :, :]
locs = np.concatenate((dt['all_locs'][i,:,:],
dt['all_locs'][i,:,:]), axis=0)
xymin = np.minimum(np.min(goal_loc, axis=0), np.min(locs, axis=0))
xymax = np.maximum(np.max(goal_loc, axis=0), np.max(locs, axis=0))
xy1 = (xymax+xymin)/2. - 1.*np.maximum(np.max(xymax-xymin), 24)
xy2 = (xymax+xymin)/2. + 1.*np.maximum(np.max(xymax-xymin), 24)
fig, ax = utils.tight_imshow_figure(plt, figsize=(6,6))
ax.set_axis_on()
ax.patch.set_facecolor((0.333, 0.333, 0.333))
ax.set_xticks([])
ax.set_yticks([])
all_locs = dt['all_locs'][i,:,:]*1
uniq = np.where(np.any(all_locs[1:,:] != all_locs[:-1,:], axis=1))[0]+1
uniq = np.sort(uniq).tolist()
uniq.insert(0,0)
uniq = np.array(uniq)
all_locs = all_locs[uniq, :]
ax.plot(dt['all_locs'][i, 0, 0],
dt['all_locs'][i, 0, 1], 'b.', markersize=24)
ax.plot(dt['all_goal_locs'][i, 0, 0],
dt['all_goal_locs'][i, 0, 1], 'g*', markersize=19)
ax.plot(all_locs[:,0], all_locs[:,1], 'r', alpha=0.4, linewidth=2)
ax.scatter(all_locs[:,0], all_locs[:,1],
c=5+np.arange(all_locs.shape[0])*1./all_locs.shape[0],
cmap='Reds', s=30, linewidth=0)
ax.imshow(orig_maps, origin='lower', vmin=-1.0, vmax=2.0, aspect='equal')
ax.set_xlim([xy1[0], xy2[0]])
ax.set_ylim([xy1[1], xy2[1]])
file_name = os.path.join(out_dir, 'trajectory_{:04d}.png'.format(i))
print(file_name)
with fu.fopen(file_name, 'w') as f:
plt.savefig(f)
plt.close(fig)
def save_all(outputs, global_step, output_dir, metric_summary, N):
"""Save numerous statistics.
Args:
outputs : [locs, goal_loc, gt_dist_to_goal, node_ids, perturbs]
global_step : number of iterations.
output_dir : output directory.
metric_summary : to append scalars to summary.
N : number of outputs to process.
"""
all_locs = np.concatenate(map(lambda x: x[0], outputs), axis=0)
all_goal_locs = np.concatenate(map(lambda x: x[1], outputs), axis=0)
all_d_at_t = np.concatenate(map(lambda x: x[2][:,:,0]*1, outputs), axis=0)
all_node_ids = np.concatenate(map(lambda x: x[3], outputs), axis=0)
all_perturbs = np.concatenate(map(lambda x: x[4], outputs), axis=0)
file_name = os.path.join(output_dir, 'all_locs_at_t_{:d}.pkl'.format(global_step))
vars = [all_locs, all_goal_locs, all_d_at_t, all_node_ids, all_perturbs]
var_names = ['all_locs', 'all_goal_locs', 'all_d_at_t', 'all_node_ids', 'all_perturbs']
utils.save_variables(file_name, vars, var_names, overwrite=True)
return None
def save_d_at_t(outputs, global_step, output_dir, metric_summary, N):
"""Save distance to goal at all time steps.
Args:
outputs : [gt_dist_to_goal].
global_step : number of iterations.
output_dir : output directory.
metric_summary : to append scalars to summary.
N : number of outputs to process.
"""
d_at_t = np.concatenate(map(lambda x: x[0][:,:,0]*1, outputs), axis=0)
fig, axes = utils.subplot(plt, (1,1), (5,5))
axes.plot(np.arange(d_at_t.shape[1]), np.mean(d_at_t, axis=0), 'r.')
axes.set_xlabel('time step')
axes.set_ylabel('dist to next goal')
axes.grid('on')
file_name = os.path.join(output_dir, 'dist_at_t_{:d}.png'.format(global_step))
with fu.fopen(file_name, 'w') as f:
fig.savefig(f, bbox_inches='tight', transparent=True, pad_inches=0)
file_name = os.path.join(output_dir, 'dist_at_t_{:d}.pkl'.format(global_step))
utils.save_variables(file_name, [d_at_t], ['d_at_t'], overwrite=True)
plt.close(fig)
return None
def eval_dist(outputs, global_step, output_dir, metric_summary, N):
"""Processes the collected outputs during validation to
1. Plot the distance over time curve.
2. Compute mean and median distances.
3. Plots histogram of end distances.
Args:
outputs : [locs, goal_loc, gt_dist_to_goal].
global_step : global_step.
output_dir : where to store results.
metric_summary : summary object to add summaries to.
N : number of outputs to process.
"""
SUCCESS_THRESH = 3
if N >= 0:
outputs = outputs[:N]
# Plot distance at time t.
d_at_t = []
for i in range(len(outputs)):
locs, goal_loc, gt_dist_to_goal = outputs[i]
d_at_t.append(gt_dist_to_goal[:, :, 0] * 1)
# Plot the distance.
fig, axes = utils.subplot(plt, (1, 1), (5, 5))
d_at_t = np.concatenate(d_at_t, axis=0)
axes.plot(np.arange(d_at_t.shape[1]), np.mean(d_at_t, axis=0), 'r.')
axes.set_xlabel('time step')
axes.set_ylabel('dist to next goal')
axes.grid('on')
file_name = os.path.join(output_dir,
'dist_at_t_{:d}.png'.format(global_step))
with fu.fopen(file_name, 'w') as f:
fig.savefig(f, bbox_inches='tight', transparent=True, pad_inches=0)
file_name = os.path.join(output_dir,
'dist_at_t_{:d}.pkl'.format(global_step))
utils.save_variables(file_name, [d_at_t], ['d_at_t'], overwrite=True)
plt.close(fig)
# Plot the trajectories and the init_distance and final distance.
d_inits = []
d_ends = []
for i in range(len(outputs)):
locs, goal_loc, gt_dist_to_goal = outputs[i]
d_inits.append(gt_dist_to_goal[:, 0, 0] * 1)
d_ends.append(gt_dist_to_goal[:, -1, 0] * 1)
# Plot the distance.
fig, axes = utils.subplot(plt, (1, 1), (5, 5))
d_inits = np.concatenate(d_inits, axis=0)
d_ends = np.concatenate(d_ends, axis=0)
axes.plot(d_inits + np.random.rand(*(d_inits.shape)) - 0.5,
d_ends + np.random.rand(*(d_ends.shape)) - 0.5,
'.',
mec='red',
mew=1.0)
axes.set_xlabel('init dist')
axes.set_ylabel('final dist')
axes.grid('on')
axes.axis('equal')
title_str = 'mean: {:0.1f}, 50: {:0.1f}, 75: {:0.2f}, s: {:0.1f}'
title_str = title_str.format(np.mean(d_ends), np.median(d_ends),
np.percentile(d_ends, q=75),
100 * (np.mean(d_ends <= SUCCESS_THRESH)))
axes.set_title(title_str)
file_name = os.path.join(output_dir, 'dist_{:d}.png'.format(global_step))
with fu.fopen(file_name, 'w') as f:
fig.savefig(f, bbox_inches='tight', transparent=True, pad_inches=0)
file_name = os.path.join(output_dir, 'dist_{:d}.pkl'.format(global_step))
utils.save_variables(file_name, [d_inits, d_ends], ['d_inits', 'd_ends'],
overwrite=True)
plt.close(fig)
# Plot the histogram of the end_distance.
with plt.style.context('seaborn-white'):
d_ends_ = np.sort(d_ends)
d_inits_ = np.sort(d_inits)
leg = []
fig, ax = utils.subplot(plt, (1, 1), (5, 5))
ax.grid('on')
ax.set_xlabel('Distance from goal')
ax.xaxis.label.set_fontsize(16)
ax.set_ylabel('Fraction of data')
ax.yaxis.label.set_fontsize(16)
ax.plot(d_ends_, np.arange(d_ends_.size) * 1. / d_ends_.size, 'r')
ax.plot(d_inits_, np.arange(d_inits_.size) * 1. / d_inits_.size, 'k')
leg.append('Final')
leg.append('Init')
ax.legend(leg, fontsize='x-large')
ax.set_axis_on()
title_str = 'mean: {:0.1f}, 50: {:0.1f}, 75: {:0.2f}, s: {:0.1f}'
title_str = title_str.format(np.mean(d_ends), np.median(d_ends),
np.percentile(d_ends, q=75),
100 * (np.mean(d_ends <= SUCCESS_THRESH)))
ax.set_title(title_str)
file_name = os.path.join(output_dir,
'dist_hist_{:d}.png'.format(global_step))
with fu.fopen(file_name, 'w') as f:
fig.savefig(f, bbox_inches='tight', transparent=True, pad_inches=0)
# Log distance metrics.
tf_utils.add_value_to_summary(metric_summary, 'dists/success_init: ',
100 * (np.mean(d_inits <= SUCCESS_THRESH)))
tf_utils.add_value_to_summary(metric_summary, 'dists/success_end: ',
100 * (np.mean(d_ends <= SUCCESS_THRESH)))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_init (75): ',
np.percentile(d_inits, q=75))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_end (75): ',
np.percentile(d_ends, q=75))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_init (median): ',
np.median(d_inits))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_end (median): ',
np.median(d_ends))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_init (mean): ',
np.mean(d_inits))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_end (mean): ',
np.mean(d_ends))
return np.median(d_inits), np.median(d_ends), np.mean(d_inits), np.mean(d_ends), \
np.percentile(d_inits, q=75), np.percentile(d_ends, q=75), \
100*(np.mean(d_inits) <= SUCCESS_THRESH), 100*(np.mean(d_ends) <= SUCCESS_THRESH)
def eval_dist(outputs, global_step, output_dir, metric_summary, N):
"""Processes the collected outputs during validation to
1. Plot the distance over time curve.
2. Compute mean and median distances.
3. Plots histogram of end distances.
Args:
outputs : [locs, goal_loc, gt_dist_to_goal].
global_step : global_step.
output_dir : where to store results.
metric_summary : summary object to add summaries to.
N : number of outputs to process.
"""
SUCCESS_THRESH = 3
if N >= 0:
outputs = outputs[:N]
# Plot distance at time t.
d_at_t = []
for i in range(len(outputs)):
locs, goal_loc, gt_dist_to_goal = outputs[i]
d_at_t.append(gt_dist_to_goal[:,:,0]*1)
# Plot the distance.
fig, axes = utils.subplot(plt, (1,1), (5,5))
d_at_t = np.concatenate(d_at_t, axis=0)
axes.plot(np.arange(d_at_t.shape[1]), np.mean(d_at_t, axis=0), 'r.')
axes.set_xlabel('time step')
axes.set_ylabel('dist to next goal')
axes.grid('on')
file_name = os.path.join(output_dir, 'dist_at_t_{:d}.png'.format(global_step))
with fu.fopen(file_name, 'w') as f:
fig.savefig(f, bbox_inches='tight', transparent=True, pad_inches=0)
file_name = os.path.join(output_dir, 'dist_at_t_{:d}.pkl'.format(global_step))
utils.save_variables(file_name, [d_at_t], ['d_at_t'], overwrite=True)
plt.close(fig)
# Plot the trajectories and the init_distance and final distance.
d_inits = []
d_ends = []
for i in range(len(outputs)):
locs, goal_loc, gt_dist_to_goal = outputs[i]
d_inits.append(gt_dist_to_goal[:,0,0]*1)
d_ends.append(gt_dist_to_goal[:,-1,0]*1)
# Plot the distance.
fig, axes = utils.subplot(plt, (1,1), (5,5))
d_inits = np.concatenate(d_inits, axis=0)
d_ends = np.concatenate(d_ends, axis=0)
axes.plot(d_inits+np.random.rand(*(d_inits.shape))-0.5,
d_ends+np.random.rand(*(d_ends.shape))-0.5, '.', mec='red', mew=1.0)
axes.set_xlabel('init dist'); axes.set_ylabel('final dist');
axes.grid('on'); axes.axis('equal');
title_str = 'mean: {:0.1f}, 50: {:0.1f}, 75: {:0.2f}, s: {:0.1f}'
title_str = title_str.format(
np.mean(d_ends), np.median(d_ends), np.percentile(d_ends, q=75),
100*(np.mean(d_ends <= SUCCESS_THRESH)))
axes.set_title(title_str)
file_name = os.path.join(output_dir, 'dist_{:d}.png'.format(global_step))
with fu.fopen(file_name, 'w') as f:
fig.savefig(f, bbox_inches='tight', transparent=True, pad_inches=0)
file_name = os.path.join(output_dir, 'dist_{:d}.pkl'.format(global_step))
utils.save_variables(file_name, [d_inits, d_ends], ['d_inits', 'd_ends'],
overwrite=True)
plt.close(fig)
# Plot the histogram of the end_distance.
with plt.style.context('seaborn-white'):
d_ends_ = np.sort(d_ends)
d_inits_ = np.sort(d_inits)
leg = [];
fig, ax = utils.subplot(plt, (1,1), (5,5))
ax.grid('on')
ax.set_xlabel('Distance from goal'); ax.xaxis.label.set_fontsize(16);
ax.set_ylabel('Fraction of data'); ax.yaxis.label.set_fontsize(16);
ax.plot(d_ends_, np.arange(d_ends_.size)*1./d_ends_.size, 'r')
ax.plot(d_inits_, np.arange(d_inits_.size)*1./d_inits_.size, 'k')
leg.append('Final'); leg.append('Init');
ax.legend(leg, fontsize='x-large');
ax.set_axis_on()
title_str = 'mean: {:0.1f}, 50: {:0.1f}, 75: {:0.2f}, s: {:0.1f}'
title_str = title_str.format(
np.mean(d_ends), np.median(d_ends), np.percentile(d_ends, q=75),
100*(np.mean(d_ends <= SUCCESS_THRESH)))
ax.set_title(title_str)
file_name = os.path.join(output_dir, 'dist_hist_{:d}.png'.format(global_step))
with fu.fopen(file_name, 'w') as f:
fig.savefig(f, bbox_inches='tight', transparent=True, pad_inches=0)
# Log distance metrics.
tf_utils.add_value_to_summary(metric_summary, 'dists/success_init: ',
100*(np.mean(d_inits <= SUCCESS_THRESH)))
tf_utils.add_value_to_summary(metric_summary, 'dists/success_end: ',
100*(np.mean(d_ends <= SUCCESS_THRESH)))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_init (75): ',
np.percentile(d_inits, q=75))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_end (75): ',
np.percentile(d_ends, q=75))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_init (median): ',
np.median(d_inits))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_end (median): ',
np.median(d_ends))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_init (mean): ',
np.mean(d_inits))
tf_utils.add_value_to_summary(metric_summary, 'dists/dist_end (mean): ',
np.mean(d_ends))
return np.median(d_inits), np.median(d_ends), np.mean(d_inits), np.mean(d_ends), \
np.percentile(d_inits, q=75), np.percentile(d_ends, q=75), \
100*(np.mean(d_inits) <= SUCCESS_THRESH), 100*(np.mean(d_ends) <= SUCCESS_THRESH)
