Adding graph of feasible iterations of the MPSF

Federico-PizarroBejarano · Sep 28, 2023 · e655401 · e655401
1 parent aac70a3
commit e655401
Show file tree

Hide file tree

Showing 14 changed files with 16 additions and 5 deletions.
diff --git a/experiments/mpsc/plotting_results.py b/experiments/mpsc/plotting_results.py
@@ -324,6 +324,19 @@ def extract_number_of_corrections(results_data):
     return num_corrections
 
 
+def extract_feasible_iterations(results_data):
+    '''Extracts the number of feasible iterations from an experiment's data.
+
+    Args:
+        results_data (dict): A dictionary containing all the data from the desired experiment.
+
+    Returns:
+        feasible_iterations (list): The list of the number of feasible iterations for all experiments.
+    '''
+    feasible_iterations = [np.sum(mpsc_results['feasible'][0]) for mpsc_results in results_data['cert_results']['safety_filter_data']]
+    return feasible_iterations
+
+
 def extract_rmse(results_data, certified=True):
     '''Extracts the RMSEs from an experiment's data.
 
@@ -932,6 +945,7 @@ def extract_length_uncert(results_data, certified=False): return extract_length(
     plot_model_comparisons(system_name, task_name, algo_name, extract_reward_uncert)
     plot_model_comparisons(system_name, task_name, algo_name, extract_failed_cert)
     plot_model_comparisons(system_name, task_name, algo_name, extract_failed_uncert)
+    plot_model_comparisons(system_name, task_name, algo_name, extract_feasible_iterations)
     if task_name == 'stab':
         plot_model_comparisons(system_name, task_name, algo_name, extract_final_dist_cert)
         plot_model_comparisons(system_name, task_name, algo_name, extract_final_dist_uncert)

diff --git a/...psc/results_mpsc/cartpole/stab/ppo/graphs/cartpole_stab_feasible_iterations.png b/...psc/results_mpsc/cartpole/stab/ppo/graphs/cartpole_stab_feasible_iterations.png
diff --git a/...psc/results_mpsc/cartpole/stab/sac/graphs/cartpole_stab_feasible_iterations.png b/...psc/results_mpsc/cartpole/stab/sac/graphs/cartpole_stab_feasible_iterations.png
diff --git a/...c/results_mpsc/cartpole/track/ppo/graphs/cartpole_track_feasible_iterations.png b/...c/results_mpsc/cartpole/track/ppo/graphs/cartpole_track_feasible_iterations.png
diff --git a/...c/results_mpsc/cartpole/track/sac/graphs/cartpole_track_feasible_iterations.png b/...c/results_mpsc/cartpole/track/sac/graphs/cartpole_track_feasible_iterations.png
diff --git a/...lts_mpsc/quadrotor_2D/stab/ppo/graphs/quadrotor_2D_stab_feasible_iterations.png b/...lts_mpsc/quadrotor_2D/stab/ppo/graphs/quadrotor_2D_stab_feasible_iterations.png
diff --git a/...lts_mpsc/quadrotor_2D/stab/sac/graphs/quadrotor_2D_stab_feasible_iterations.png b/...lts_mpsc/quadrotor_2D/stab/sac/graphs/quadrotor_2D_stab_feasible_iterations.png
diff --git a/...s_mpsc/quadrotor_2D/track/ppo/graphs/quadrotor_2D_track_feasible_iterations.png b/...s_mpsc/quadrotor_2D/track/ppo/graphs/quadrotor_2D_track_feasible_iterations.png
diff --git a/...s_mpsc/quadrotor_2D/track/sac/graphs/quadrotor_2D_track_feasible_iterations.png b/...s_mpsc/quadrotor_2D/track/sac/graphs/quadrotor_2D_track_feasible_iterations.png
diff --git a/...lts_mpsc/quadrotor_3D/stab/ppo/graphs/quadrotor_3D_stab_feasible_iterations.png b/...lts_mpsc/quadrotor_3D/stab/ppo/graphs/quadrotor_3D_stab_feasible_iterations.png
diff --git a/...lts_mpsc/quadrotor_3D/stab/sac/graphs/quadrotor_3D_stab_feasible_iterations.png b/...lts_mpsc/quadrotor_3D/stab/sac/graphs/quadrotor_3D_stab_feasible_iterations.png
diff --git a/...s_mpsc/quadrotor_3D/track/ppo/graphs/quadrotor_3D_track_feasible_iterations.png b/...s_mpsc/quadrotor_3D/track/ppo/graphs/quadrotor_3D_track_feasible_iterations.png
diff --git a/...s_mpsc/quadrotor_3D/track/sac/graphs/quadrotor_3D_track_feasible_iterations.png b/...s_mpsc/quadrotor_3D/track/sac/graphs/quadrotor_3D_track_feasible_iterations.png
diff --git a/experiments/mpsc/train_model.sbatch b/experiments/mpsc/train_model.sbatch
@@ -2,14 +2,11 @@
 #SBATCH --job-name=safe_control_gym_train_rl_%j
 #SBATCH --output=/h/pizarrob/safe-control-gym/experiments/mpsc/temp-data/mpsf_reset_%j.out
 #SBATCH --error=/h/pizarrob/safe-control-gym/experiments/mpsc/temp-data/mpsf_reset_%j.err
-#SBATCH --open-mode=append
-#SBATCH --partition=cpu,gpu,wsgpu
-#SBATCH --ntasks=1
+#SBATCH --partition=t4v2,rtx6000,a40
 #SBATCH -t 0-12:00
 #SBATCH --cpus-per-task=1
 #SBATCH --mem=16G
-#SBATCH --gres=gpu:0
-#SBATCH --nodes=1
+#SBATCH --gres=gpu:1
 #SBATCH --qos=normal
 
 SYS='cartpole'