adding metric saving and averaging over seeds

evaluate_models.sh

@@ -14,10 +14,20 @@ python -m src.eval_main
 python -m src.eval_main --method=idm
 
 # behavior cloning
-python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}'
+python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=0
+python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=1
+python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=2
+python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=3
+python -m src.eval_main --method=bc --policy_file='checkpoints/bc-intersimple-setobs2.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=4
+python -m src.evaluation.utils load_and_average out/bc
 
 # GAIL
-python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}'
+python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=0
+python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=1
+python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=2
+python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=3
+python -m src.eval_main --method=gail --policy_file='checkpoints/gail-intersimple-setobs2-03-02-22.pt' --env='NormalizedContinuousEvalEnv' --env_kwargs='{stop_on_collision:True}' --seed=4
+python -m src.evaluation.utils load_and_average out/gail
 
 # options GAIL
 python -m src.eval_main --method=ogail --policy_file='checkpoints/gail-options-setobs2-Feb15_18-49-05.pt' --env='NormalizedOptionsEvalEnv' --env_kwargs='{stop_on_collision:True}'

src/eval_main.py

@@ -8,6 +8,7 @@ from src.baselines import IDMRulePolicy
 from src.evaluation import IntersimpleEvaluation
 import src.gail.options as options_envs
 from src.evaluation.metrics import divergence, visualize_distribution
+from src.evaluation.utils import save_metrics
 from src.core.policy import SetPolicy, SetDiscretePolicy
 from src.core.reparam_module import ReparamPolicy
 from src.options import envs as options_envs2
@@ -28,9 +29,9 @@ def load_policy(method:str,
     Load a model given a path and the method
     
     Args:
-        load_policy (str): the path to the model
         method (str): the method for the model
-        skip_load (bool): whether to skip loading
+        policy_file (str): the path to the model
+        policy_kwargs (str): the path to the model
         env (Intersimple): Intersimple environment for evaluation (necessary for IDM policy)
     Returns:
         policy (Optional[BaseAlgorithm]): the policy to evaluate
@@ -277,7 +278,7 @@ def summary_metrics(metrics:List[Dict[str,list]]) -> Dict[str,float]:
     return summary_metrics
 
 def comparison_metrics(policy_metrics:List[Dict[str,list]], 
-    expert_metrics:List[Dict[str,list]]) -> Dict[str,float]:
+    expert_metrics:List[Dict[str,list]], outbase:str='' ) -> Dict[str,float]:
     """
     Provide distributional comparison between different sets of metrics
 
@@ -286,6 +287,7 @@ def comparison_metrics(policy_metrics:List[Dict[str,list]],
             evaluated on the kth episode (car) of the ith roundabout trackfile under a policy
         expert_metrics (list of dicts): expert_metrics[i][j][k] returns the value of metric 'j' 
             evaluated on the kth episode (car) of the ith expert roundabout trackfile
+        outbase (str): path to save output figs to
 
     Returns:   
         comparison_metrics (Dict[str,float]): dict mapping comparison metric description to value
@@ -302,19 +304,19 @@ def comparison_metrics(policy_metrics:List[Dict[str,list]],
     expert_vs = torch.tensor(np.concatenate([np.concatenate(d['v_all']) for d in expert_metrics]))
     policy_vs = torch.tensor(np.concatenate([np.concatenate(d['v_all']) for d in policy_metrics]))
     comparison_metrics['velocity distribution divergence'] = divergence(expert_vs, policy_vs)
-    visualize_distribution(expert_vs, policy_vs, 'velocity_jsd')
+    visualize_distribution(expert_vs, policy_vs, outbase+'_velocity_jsd')
     
     # acceleration JSD
     expert_as = torch.tensor(np.concatenate([np.concatenate(d['a_all']) for d in expert_metrics]))
     policy_as = torch.tensor(np.concatenate([np.concatenate(d['a_all']) for d in policy_metrics]))
     comparison_metrics['acceleration distribution divergence'] = divergence(expert_as, policy_as)
-    visualize_distribution(expert_as, policy_as, 'accel_jsd')
+    visualize_distribution(expert_as, policy_as, outbase+'_accel_jsd')
     
     # jerk JSD
     expert_jerks = torch.tensor(np.concatenate([np.concatenate(d['j_all']) for d in expert_metrics]))
     policy_jerks = torch.tensor(np.concatenate([np.concatenate(d['j_all']) for d in policy_metrics]))
     comparison_metrics['jerk distribution divergence'] = divergence(expert_jerks, policy_jerks)
-    visualize_distribution(expert_jerks, policy_jerks, 'jerk_jsd')
+    visualize_distribution(expert_jerks, policy_jerks, outbase+'_jerk_jsd')
 
     for key in comparison_metrics.keys():
         print(f'{key}: {comparison_metrics[key]}')
@@ -345,21 +347,26 @@ def eval_main(
     # set seed
     np.random.seed(seed)
     torch.manual_seed(seed)
+    pfilename = policy_file.split('/')[-1].split('.')[0]
+    outbase = f'out/{method}/{pfilename}_seed{seed}'
 
     # load expert metrics
     expert_metrics = generate_expert_metrics(locations)
 
     # no comparison for expert
     if method=='expert':
-        summary_metrics(expert_metrics)
+        smetrics = summary_metrics(expert_metrics)
+        save_metrics(smetrics, outbase+'_summary.pkl')
     
     # otherwise evaluate policy on roundabouts and generate metrics
     else:
 
         # evaluate it on the given roundabouts
         policy_metrics = evaluate_policy(locations, env, env_kwargs, method, policy_file, policy_kwargs)
-        summary_metrics(policy_metrics)
-        comparison_metrics(policy_metrics, expert_metrics)
+        smetrics = summary_metrics(policy_metrics)
+        save_metrics(smetrics, outbase+'_summary.pkl')
+        cmetrics = comparison_metrics(policy_metrics, expert_metrics, outbase=outbase)
+        save_metrics(cmetrics, outbase+'_comparison.pkl')
 
 if __name__=='__main__':
     import fire

src/evaluation/utils.py

@@ -0,0 +1,78 @@
+import pickle
+import os
+import numpy as np
+from typing import List,Dict
+def save_metrics(metrics:dict, filestr:str):
+    """
+    Save metric dict to filestr
+    Args:
+        metrics (dict): dict to save
+        filestr (str): strig to save dict to
+    
+    """
+    # make filepath
+    if not os.path.isdir(os.path.dirname(filestr)):
+        os.makedirs(os.path.dirname(filestr))
+
+    # pickle dump
+    with open(filestr, 'wb') as f:
+        pickle.dump(metrics, f) 
+
+def load_metrics(filestr:str):
+    """
+    Load metric dict from filestr
+    Args:
+        filestr (str): strig to save dict to
+
+    Return:
+        metrics (dict): loaded metrics
+    
+    """
+    # pickle load
+    with open(filestr, 'rb') as f:
+        metrics = pickle.load(f) 
+    return metrics
+
+def average_metrics(metric_list:List[Dict[str,float]]):
+    """
+    Average all the metrics in the list
+    
+    Args:
+        metric_list (list of dicts): list of metric dicts which each map a string to a float
+    """
+    keys = list(metric_list[0].keys())
+    N = len(metric_list)
+    master_dict = {key:[] for key in keys}
+    for key in keys:
+        for i in range(N):
+            master_dict[key].append(metric_list[i][key])
+        master_dict[key] = np.array(master_dict[key])
+        mu = np.mean(master_dict[key])
+        std2 = np.std(master_dict[key])*2
+        print(f'{key}: {mu} \pm {std2}')
+
+
+def load_and_average(path:str):
+    """
+    Load and average all metric files in a particular folder
+
+    Args:
+        path (str)
+    """
+    assert os.path.isdir(path)
+
+    # summary metrics
+    summary_files = [os.path.join(path,f) for f in os.listdir(path) if f.endswith('summary.pkl')]
+    print(*summary_files, sep='\n')
+    all_summary_metrics = [load_metrics(f) for f in summary_files]
+    average_metrics(all_summary_metrics)
+
+    # comparison metrics
+    comp_files = [os.path.join(path,f) for f in os.listdir(path) if f.endswith('comparison.pkl')]
+    print(*comp_files, sep='\n')
+    all_comp_metrics = [load_metrics(f) for f in comp_files]
+    average_metrics(all_comp_metrics)
+
+if __name__=='__main__':
+    import fire
+    fire.Fire()