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adding average absolute delta v, and tracking positions and setting up architecture to implement rwse

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Arec
2022-02-21 00:06:39 -08:00
parent d2932951f6
commit 8c4ff03208
3 changed files with 48 additions and 7 deletions
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8
src/evaluation/evaluation.py
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@@ -39,7 +39,7 @@ class IntersimpleEvaluation:
self.is_options_env = isinstance(self.env, (OptionsEnv, OptionsTimeLimit))
# metrics present on every step of every episode
self.metric_keys_all = ['v_all', 'a_all', 'col_all']
self.metric_keys_all = ['x_all', 'y_all', 'v_all', 'a_all', 'col_all']
# metrics calculated after the fact, with one per episode
self.metric_keys_single = ['j_all', 'v_avg','a_avg', 'col','brake', 't']
@@ -129,6 +129,8 @@ class IntersimpleEvaluation:
def eval_policy_step(self, info, done, _agent):
# Increase collision counter if episode terminated with a collision
self._metrics['x_all'][_agent].append(info['prev_state'][_agent,0].item())
self._metrics['y_all'][_agent].append(info['prev_state'][_agent,1].item())
self._metrics['v_all'][_agent].append(info['prev_state'][_agent,2].item())
self._metrics['a_all'][_agent].append(info['action_taken'][_agent,0].item())
col = info['collision']
@@ -144,10 +146,12 @@ class IntersimpleEvaluation:
"""
Postprocess and metrics after simulation episodes
"""
# self.metric_keys_all = ['v_all', 'a_all', 'col_all']
# self.metric_keys_all = ['x_all','y_all','v_all', 'a_all', 'col_all']
# self.metric_keys_single = ['j_all', 'v_avg','a_avg', 'col','brake', 't']
for i in range(self.n_episodes):
self._metrics['x_all'][i] = np.array(self._metrics['x_all'][i])
self._metrics['y_all'][i] = np.array(self._metrics['y_all'][i])
self._metrics['v_all'][i] = np.array(self._metrics['v_all'][i])
self._metrics['a_all'][i] = np.array(self._metrics['a_all'][i])