chore/quick stash: Some changes which I stash about how I tried to te…

…st out the RL models
danielbinschmid · Feb 20, 2024 · f34737c · f34737c
1 parent d5faaec
commit f34737c
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Showing 5 changed files with 50 additions and 7 deletions.
diff --git a/agents/test_policy.py b/agents/test_policy.py
@@ -85,7 +85,9 @@ def run_test(config: Configuration, env_factory: BaseFactory, eval_mode=False):
     if not eval_mode:
         test_env = env_factory.get_test_env_gui()
     else:
-        test_env = env_factory.get_test_env_no_gui()
+        #test_env = env_factory.get_test_env_no_gui()
+        # Changed to GUI on
+        test_env = env_factory.get_test_env_gui()
     test_env_nogui = env_factory.get_test_env_no_gui()
 
     eval_res = test_simple_follower(

diff --git a/...k_p=5_k_wp=8_k_s=0.05_max_reward_distance=0.0001_waypoint_dist_tol=0.04/output_figure.pdf b/...k_p=5_k_wp=8_k_s=0.05_max_reward_distance=0.0001_waypoint_dist_tol=0.04/output_figure.pdf
diff --git a/..._k_p=5_k_wp=5_k_s=0.05_max_reward_distance=0.03_waypoint_dist_tol=0.031/output_figure.pdf b/..._k_p=5_k_wp=5_k_s=0.05_max_reward_distance=0.03_waypoint_dist_tol=0.031/output_figure.pdf
diff --git a/gym_pybullet_drones/control/MPCCasADiControl.py b/gym_pybullet_drones/control/MPCCasADiControl.py
@@ -493,6 +493,7 @@ def __init__(self,
         R = diagcat(0.3, 0.3, 0.3, 0.8)
         # -> Test result: Drone completely goes off the rails and crazyflie flies crazily and fails'''
 
+
         x_init = P[0:Nx]
         g = X[:, 0] - P[0:Nx]  # initial condition constraints
         h = 0.15
@@ -508,11 +509,9 @@ def __init__(self,
         u_ref = DM([hovering_thrust, tau_phi_ref, tau_theta_ref, tau_psi_ref])
 
         for k in range(Nhoriz - 1):
-
             ##Adaptive k-Weighting matrices approach
-            Q = (1 - (k * 1.0 / Nhoriz)) * Q
-            R = (1 - (k * 1.0 / Nhoriz)) * R
-
+            #Q = (1 - (k * 1.0 / Nhoriz)) * Q
+            #R = (1 - (k * 1.0 / Nhoriz)) * R
             st_ref = P[Nx:2 * Nx]
             st = X[:, k]
             cont = U[:, k]

diff --git a/runnables/test_suite_eval/C_trajectory_following.py b/runnables/test_suite_eval/C_trajectory_following.py
@@ -21,7 +21,11 @@
 RECORD_VIDEO = False
 OUTPUT_FOLDER = 'checkpointed_models'
 COLAB = False
-DEFAULT_EVAL_SET_FOLDER = "/shared/d/master/ws23/UAV-lab/git_repos/RL-pybullets-cf/runnables/test_suite_eval/eval-v0_n-ctrl-points-3_n-tracks-20_2024-02-11_22:18:28_46929077-0248-4c6e-b2b1-da2afb13b2e2"
+#DEFAULT_EVAL_SET_FOLDER = "/shared/d/master/ws23/UAV-lab/git_repos/RL-pybullets-cf/runnables/test_suite_eval/eval-v0_n-ctrl-points-3_n-tracks-20_2024-02-11_22:18:28_46929077-0248-4c6e-b2b1-da2afb13b2e2"
+
+## aligned this to my computer (Daniel He)
+DEFAULT_EVAL_SET_FOLDER = "/home/dan/Projects/RL-pybullets-cf/runnables/test_suite_eval/eval-v0_n-ctrl-points-3_n-tracks-20_2024-02-11_22:18:28_46929077-0248-4c6e-b2b1-da2afb13b2e2"
+
 ####################################
 
 ###### USUALLY NOT CHANGED #########
@@ -44,14 +48,52 @@
 EPISODE_LEN_SEC = 50
 ####################################
 
-###### HYPERPARAMS #################
+'''###### Original HYPERPARAMS #################
 WAYPOINT_BUFFER_SIZE = 2
 K_P = 5
 K_WP = 8
 K_S = 0.05
 MAX_REWARD_DISTANCE = 0.0
 WAYPOINT_DIST_TOL = 0.05
 DEFAULT_DISCR_LEVEL = 10
+
+# Result 20 tracks
+# SUCCESS RATE:  1.0
+# AVERAGE MEAN DEVIATION:  0.07290511259032172
+# AVERAGE MAX DEVIATION:  0.15248093381751945
+# AVERAGE TIME UNTIL LANDING:  7.826666666666666
+'''
+
+
+'''###### HYPERPARAMS #################
+WAYPOINT_BUFFER_SIZE = 2
+K_P = 5
+K_WP = 8
+K_S = 0.05
+MAX_REWARD_DISTANCE = 0.0001
+WAYPOINT_DIST_TOL = 0.04
+DEFAULT_DISCR_LEVEL = 10
+
+# Result 20 tracks
+# SUCCESS RATE:  0.3
+# AVERAGE MEAN DEVIATION:  0.27309728400409955
+# AVERAGE MAX DEVIATION:  0.5015007941869536
+# AVERAGE TIME UNTIL LANDING:  24.61111111111111'''
+
+###### HYPERPARAMS #################
+WAYPOINT_BUFFER_SIZE = 3
+K_P = 5
+K_WP = 5
+K_S = 0.05
+MAX_REWARD_DISTANCE = 0.03
+WAYPOINT_DIST_TOL = 0.031
+DEFAULT_DISCR_LEVEL = 10
+
+# Result 20 tracks
+# SUCCESS RATE:  0.9
+# AVERAGE MEAN DEVIATION:  0.117966844891097
+# AVERAGE MAX DEVIATION:  0.22631146890221565
+# AVERAGE TIME UNTIL LANDING:  11.844444444444443
 ####################################
 
 def save_benchmark(benchmarks: Dict[str, float], file_path: str):