src/race/logs/IROS_Experiments.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import pandas as pd\n",
    "import numpy as np \n",
    "import seaborn as sns\n",
    "import matplotlib.pyplot as plt\n",
    "sns.set_theme(style=\"white\")\n",
    "import os\n",
    "import plotly.express as px\n",
    "from plotly.subplots import make_subplots\n",
    "from plotly import graph_objects as go\n",
    "import warnings\n",
    "warnings.filterwarnings(\"ignore\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "def rename_controlers(row):\n",
    "    row = row.strip()\n",
    "    dicta = {\"e2e\":\"End-to-End\",\"pure_pursuit\":\"Pure Pursuit\",\"disparity_extender\":\"Disparity Extender\"}\n",
    "    return dicta[row]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Experiment Number</th>\n",
       "      <th>Controller</th>\n",
       "      <th>Velocity</th>\n",
       "      <th>Safety Percentage</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
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       "      <th>0</th>\n",
       "      <td>1</td>\n",
       "      <td>e2e</td>\n",
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       "      <td>0.909639</td>\n",
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       "      <th>1</th>\n",
       "      <td>2</td>\n",
       "      <td>e2e</td>\n",
       "      <td>1.0</td>\n",
       "      <td>0.900856</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
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       "      <td>e2e</td>\n",
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       "      <td>0.918367</td>\n",
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       "      <td>e2e</td>\n",
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       "      <td>0.906952</td>\n",
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       "      <th>4</th>\n",
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       "      <td>0.861740</td>\n",
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       "      <th>139</th>\n",
       "      <td>11</td>\n",
       "      <td>pure_pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.869107</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>140</th>\n",
       "      <td>12</td>\n",
       "      <td>pure_pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.870952</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>141</th>\n",
       "      <td>13</td>\n",
       "      <td>pure_pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.866567</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>142</th>\n",
       "      <td>14</td>\n",
       "      <td>pure_pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.869717</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>143</th>\n",
       "      <td>15</td>\n",
       "      <td>pure_pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.878257</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>144 rows × 4 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "     Experiment Number     Controller  Velocity  Safety Percentage\n",
       "0                    1            e2e       1.0           0.909639\n",
       "1                    2            e2e       1.0           0.900856\n",
       "2                    3            e2e       1.0           0.918367\n",
       "3                    4            e2e       1.0           0.906952\n",
       "4                    5            e2e       1.0           0.861740\n",
       "..                 ...            ...       ...                ...\n",
       "139                 11   pure_pursuit       1.5           0.869107\n",
       "140                 12   pure_pursuit       1.5           0.870952\n",
       "141                 13   pure_pursuit       1.5           0.866567\n",
       "142                 14   pure_pursuit       1.5           0.869717\n",
       "143                 15   pure_pursuit       1.5           0.878257\n",
       "\n",
       "[144 rows x 4 columns]"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "two_car_experiments = pd.read_csv('safety_experiments_two_cars.csv',header=None).rename(columns={0:\"Experiment Number\",1:\"Controller\",2:\"Velocity\",3:\"Safety Percentage\"})\n",
    "two_car_experiments"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "  <thead>\n",
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       "      <th></th>\n",
       "      <th>Experiment Number</th>\n",
       "      <th>Controller</th>\n",
       "      <th>Velocity</th>\n",
       "      <th>Safety Percentage</th>\n",
       "      <th>Number of Opponents</th>\n",
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       "      <th>1</th>\n",
       "      <td>2</td>\n",
       "      <td>End-to-End</td>\n",
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       "      <th>2</th>\n",
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       "      <td>1</td>\n",
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       "      <td>12</td>\n",
       "      <td>Pure Pursuit</td>\n",
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       "      <th>141</th>\n",
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       "      <td>14</td>\n",
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       "      <td>1</td>\n",
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       "    <tr>\n",
       "      <th>143</th>\n",
       "      <td>15</td>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.878257</td>\n",
       "      <td>1</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>144 rows × 5 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "     Experiment Number    Controller  Velocity  Safety Percentage  \\\n",
       "0                    1    End-to-End       1.0           0.909639   \n",
       "1                    2    End-to-End       1.0           0.900856   \n",
       "2                    3    End-to-End       1.0           0.918367   \n",
       "3                    4    End-to-End       1.0           0.906952   \n",
       "4                    5    End-to-End       1.0           0.861740   \n",
       "..                 ...           ...       ...                ...   \n",
       "139                 11  Pure Pursuit       1.5           0.869107   \n",
       "140                 12  Pure Pursuit       1.5           0.870952   \n",
       "141                 13  Pure Pursuit       1.5           0.866567   \n",
       "142                 14  Pure Pursuit       1.5           0.869717   \n",
       "143                 15  Pure Pursuit       1.5           0.878257   \n",
       "\n",
       "     Number of Opponents  \n",
       "0                      1  \n",
       "1                      1  \n",
       "2                      1  \n",
       "3                      1  \n",
       "4                      1  \n",
       "..                   ...  \n",
       "139                    1  \n",
       "140                    1  \n",
       "141                    1  \n",
       "142                    1  \n",
       "143                    1  \n",
       "\n",
       "[144 rows x 5 columns]"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "two_car_experiments.groupby([\"Controller\",\"Velocity\"]).head(15).drop(columns=\"Experiment Number\")\n",
    "two_car_experiments[\"Controller\"] = two_car_experiments[\"Controller\"].apply(rename_controlers)\n",
    "two_car_experiments['Number of Opponents'] = 1\n",
    "two_car_experiments"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th colspan=\"3\" halign=\"left\">Safety Percentage</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th>mean</th>\n",
       "      <th>median</th>\n",
       "      <th>std</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Controller</th>\n",
       "      <th>Velocity</th>\n",
       "      <th>Number of Opponents</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th rowspan=\"3\" valign=\"top\">Disparity Extender</th>\n",
       "      <th>0.5</th>\n",
       "      <th>1</th>\n",
       "      <td>62.928</td>\n",
       "      <td>62.639</td>\n",
       "      <td>0.762</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.0</th>\n",
       "      <th>1</th>\n",
       "      <td>44.639</td>\n",
       "      <td>45.182</td>\n",
       "      <td>2.839</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.5</th>\n",
       "      <th>1</th>\n",
       "      <td>33.584</td>\n",
       "      <td>35.698</td>\n",
       "      <td>9.178</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"3\" valign=\"top\">End-to-End</th>\n",
       "      <th>0.5</th>\n",
       "      <th>1</th>\n",
       "      <td>84.152</td>\n",
       "      <td>87.900</td>\n",
       "      <td>23.466</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.0</th>\n",
       "      <th>1</th>\n",
       "      <td>84.115</td>\n",
       "      <td>90.123</td>\n",
       "      <td>23.269</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.5</th>\n",
       "      <th>1</th>\n",
       "      <td>82.871</td>\n",
       "      <td>88.681</td>\n",
       "      <td>22.503</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"3\" valign=\"top\">Pure Pursuit</th>\n",
       "      <th>0.5</th>\n",
       "      <th>1</th>\n",
       "      <td>91.974</td>\n",
       "      <td>92.341</td>\n",
       "      <td>2.178</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.0</th>\n",
       "      <th>1</th>\n",
       "      <td>94.607</td>\n",
       "      <td>94.522</td>\n",
       "      <td>0.600</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.5</th>\n",
       "      <th>1</th>\n",
       "      <td>87.003</td>\n",
       "      <td>86.972</td>\n",
       "      <td>0.449</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "                                                Safety Percentage          \\\n",
       "                                                             mean  median   \n",
       "Controller         Velocity Number of Opponents                             \n",
       "Disparity Extender 0.5      1                              62.928  62.639   \n",
       "                   1.0      1                              44.639  45.182   \n",
       "                   1.5      1                              33.584  35.698   \n",
       "End-to-End         0.5      1                              84.152  87.900   \n",
       "                   1.0      1                              84.115  90.123   \n",
       "                   1.5      1                              82.871  88.681   \n",
       "Pure Pursuit       0.5      1                              91.974  92.341   \n",
       "                   1.0      1                              94.607  94.522   \n",
       "                   1.5      1                              87.003  86.972   \n",
       "\n",
       "                                                         \n",
       "                                                    std  \n",
       "Controller         Velocity Number of Opponents          \n",
       "Disparity Extender 0.5      1                     0.762  \n",
       "                   1.0      1                     2.839  \n",
       "                   1.5      1                     9.178  \n",
       "End-to-End         0.5      1                    23.466  \n",
       "                   1.0      1                    23.269  \n",
       "                   1.5      1                    22.503  \n",
       "Pure Pursuit       0.5      1                     2.178  \n",
       "                   1.0      1                     0.600  \n",
       "                   1.5      1                     0.449  "
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "results=two_car_experiments.groupby([\"Controller\",\"Velocity\"]).head(15).drop(columns=\"Experiment Number\").groupby([\"Controller\",\"Velocity\",'Number of Opponents']).agg(['mean', 'median','std'])*100\n",
    "round(results,3)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\\begin{tabular}{lllrrr}\n",
      "\\toprule\n",
      "             &     &   & \\multicolumn{3}{l}{Safety Percentage} \\\\\n",
      "             &     &   &              mean & median &    std \\\\\n",
      "Controller & Velocity & Number of Opponents &                   &        &        \\\\\n",
      "\\midrule\n",
      "Disparity Extender & 0.5 & 1 &             62.93 &  62.64 &   0.76 \\\\\n",
      "             & 1.0 & 1 &             44.64 &  45.18 &   2.84 \\\\\n",
      "             & 1.5 & 1 &             33.58 &  35.70 &   9.18 \\\\\n",
      "End-to-End & 0.5 & 1 &             84.15 &  87.90 &  23.47 \\\\\n",
      "             & 1.0 & 1 &             84.12 &  90.12 &  23.27 \\\\\n",
      "             & 1.5 & 1 &             82.87 &  88.68 &  22.50 \\\\\n",
      "Pure Pursuit & 0.5 & 1 &             91.97 &  92.34 &   2.18 \\\\\n",
      "             & 1.0 & 1 &             94.61 &  94.52 &   0.60 \\\\\n",
      "             & 1.5 & 1 &             87.00 &  86.97 &   0.45 \\\\\n",
      "\\bottomrule\n",
      "\\end{tabular}\n",
      "\n"
     ]
    }
   ],
   "source": [
    "print(round(results,2).to_latex())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 60,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>Experiment Number</th>\n",
       "      <th>Controller</th>\n",
       "      <th>Velocity</th>\n",
       "      <th>Safety Percentage</th>\n",
       "      <th>Number of Opponents</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
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       "      <th>0</th>\n",
       "      <td>1</td>\n",
       "      <td>End-to-End</td>\n",
       "      <td>1.0</td>\n",
       "      <td>0.893006</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>2</td>\n",
       "      <td>End-to-End</td>\n",
       "      <td>1.0</td>\n",
       "      <td>0.890100</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>1</td>\n",
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       "      <td>1.0</td>\n",
       "      <td>0.889521</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
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       "      <td>End-to-End</td>\n",
       "      <td>1.0</td>\n",
       "      <td>0.886467</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>1</td>\n",
       "      <td>End-to-End</td>\n",
       "      <td>1.0</td>\n",
       "      <td>0.890943</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>...</th>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>158</th>\n",
       "      <td>15</td>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.727411</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>159</th>\n",
       "      <td>16</td>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.538762</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>160</th>\n",
       "      <td>17</td>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.427852</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>161</th>\n",
       "      <td>18</td>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.439507</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>162</th>\n",
       "      <td>19</td>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>0.866060</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "<p>163 rows × 5 columns</p>\n",
       "</div>"
      ],
      "text/plain": [
       "     Experiment Number    Controller  Velocity  Safety Percentage  \\\n",
       "0                    1    End-to-End       1.0           0.893006   \n",
       "1                    2    End-to-End       1.0           0.890100   \n",
       "2                    1    End-to-End       1.0           0.889521   \n",
       "3                    2    End-to-End       1.0           0.886467   \n",
       "4                    1    End-to-End       1.0           0.890943   \n",
       "..                 ...           ...       ...                ...   \n",
       "158                 15  Pure Pursuit       1.5           0.727411   \n",
       "159                 16  Pure Pursuit       1.5           0.538762   \n",
       "160                 17  Pure Pursuit       1.5           0.427852   \n",
       "161                 18  Pure Pursuit       1.5           0.439507   \n",
       "162                 19  Pure Pursuit       1.5           0.866060   \n",
       "\n",
       "     Number of Opponents  \n",
       "0                      2  \n",
       "1                      2  \n",
       "2                      2  \n",
       "3                      2  \n",
       "4                      2  \n",
       "..                   ...  \n",
       "158                    2  \n",
       "159                    2  \n",
       "160                    2  \n",
       "161                    2  \n",
       "162                    2  \n",
       "\n",
       "[163 rows x 5 columns]"
      ]
     },
     "execution_count": 60,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "three_car_experiments = pd.read_csv('safety_experiments_three_cars.csv',header=None).rename(columns={0:\"Experiment Number\",1:\"Controller\",2:\"Velocity\",3:\"Safety Percentage\"})\n",
    "three_car_experiments.groupby([\"Controller\",\"Velocity\"]).head(15).drop(columns=\"Experiment Number\")\n",
    "three_car_experiments[\"Controller\"] = three_car_experiments[\"Controller\"].apply(rename_controlers)\n",
    "three_car_experiments['Number of Opponents'] = 2\n",
    "three_car_experiments"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 61,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
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       "  <thead>\n",
       "    <tr>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th colspan=\"3\" halign=\"left\">Safety Percentage</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th>mean</th>\n",
       "      <th>median</th>\n",
       "      <th>std</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Controller</th>\n",
       "      <th>Velocity</th>\n",
       "      <th>Number of Opponents</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th rowspan=\"3\" valign=\"top\">Disparity Extender</th>\n",
       "      <th>0.5</th>\n",
       "      <th>2</th>\n",
       "      <td>62.105</td>\n",
       "      <td>61.936</td>\n",
       "      <td>0.680</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.0</th>\n",
       "      <th>2</th>\n",
       "      <td>39.642</td>\n",
       "      <td>40.035</td>\n",
       "      <td>2.398</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.5</th>\n",
       "      <th>2</th>\n",
       "      <td>33.885</td>\n",
       "      <td>36.644</td>\n",
       "      <td>9.149</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"3\" valign=\"top\">End-to-End</th>\n",
       "      <th>0.5</th>\n",
       "      <th>2</th>\n",
       "      <td>85.227</td>\n",
       "      <td>85.410</td>\n",
       "      <td>2.271</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.0</th>\n",
       "      <th>2</th>\n",
       "      <td>89.275</td>\n",
       "      <td>89.234</td>\n",
       "      <td>0.427</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.5</th>\n",
       "      <th>2</th>\n",
       "      <td>66.709</td>\n",
       "      <td>83.874</td>\n",
       "      <td>26.415</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"3\" valign=\"top\">Pure Pursuit</th>\n",
       "      <th>0.5</th>\n",
       "      <th>2</th>\n",
       "      <td>85.441</td>\n",
       "      <td>86.474</td>\n",
       "      <td>3.671</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.0</th>\n",
       "      <th>2</th>\n",
       "      <td>92.205</td>\n",
       "      <td>94.522</td>\n",
       "      <td>9.057</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1.5</th>\n",
       "      <th>2</th>\n",
       "      <td>65.343</td>\n",
       "      <td>78.931</td>\n",
       "      <td>23.596</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "                                                Safety Percentage          \\\n",
       "                                                             mean  median   \n",
       "Controller         Velocity Number of Opponents                             \n",
       "Disparity Extender 0.5      2                              62.105  61.936   \n",
       "                   1.0      2                              39.642  40.035   \n",
       "                   1.5      2                              33.885  36.644   \n",
       "End-to-End         0.5      2                              85.227  85.410   \n",
       "                   1.0      2                              89.275  89.234   \n",
       "                   1.5      2                              66.709  83.874   \n",
       "Pure Pursuit       0.5      2                              85.441  86.474   \n",
       "                   1.0      2                              92.205  94.522   \n",
       "                   1.5      2                              65.343  78.931   \n",
       "\n",
       "                                                         \n",
       "                                                    std  \n",
       "Controller         Velocity Number of Opponents          \n",
       "Disparity Extender 0.5      2                     0.680  \n",
       "                   1.0      2                     2.398  \n",
       "                   1.5      2                     9.149  \n",
       "End-to-End         0.5      2                     2.271  \n",
       "                   1.0      2                     0.427  \n",
       "                   1.5      2                    26.415  \n",
       "Pure Pursuit       0.5      2                     3.671  \n",
       "                   1.0      2                     9.057  \n",
       "                   1.5      2                    23.596  "
      ]
     },
     "execution_count": 61,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "results2=three_car_experiments.groupby([\"Controller\",\"Velocity\"]).head(15).drop(columns=\"Experiment Number\").groupby([\"Controller\",\"Velocity\",'Number of Opponents']).agg(['mean', 'median','std'])*100\n",
    "round(results2,3)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 62,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr>\n",
       "      <th></th>\n",
       "      <th>Controller</th>\n",
       "      <th>Velocity</th>\n",
       "      <th>Number of Opponents</th>\n",
       "      <th colspan=\"3\" halign=\"left\">Safety Percentage</th>\n",
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       "    <tr>\n",
       "      <th></th>\n",
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       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>Disparity Extender</td>\n",
       "      <td>0.5</td>\n",
       "      <td>1</td>\n",
       "      <td>62.928069</td>\n",
       "      <td>62.638889</td>\n",
       "      <td>0.762251</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>Disparity Extender</td>\n",
       "      <td>0.5</td>\n",
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       "      <td>61.936049</td>\n",
       "      <td>0.680225</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>Disparity Extender</td>\n",
       "      <td>1.0</td>\n",
       "      <td>1</td>\n",
       "      <td>44.638695</td>\n",
       "      <td>45.182292</td>\n",
       "      <td>2.838792</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>Disparity Extender</td>\n",
       "      <td>1.0</td>\n",
       "      <td>2</td>\n",
       "      <td>39.642464</td>\n",
       "      <td>40.035119</td>\n",
       "      <td>2.397727</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>Disparity Extender</td>\n",
       "      <td>1.5</td>\n",
       "      <td>1</td>\n",
       "      <td>33.583696</td>\n",
       "      <td>35.697835</td>\n",
       "      <td>9.177905</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>Disparity Extender</td>\n",
       "      <td>1.5</td>\n",
       "      <td>2</td>\n",
       "      <td>33.885386</td>\n",
       "      <td>36.644295</td>\n",
       "      <td>9.149214</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>End-to-End</td>\n",
       "      <td>0.5</td>\n",
       "      <td>1</td>\n",
       "      <td>84.151742</td>\n",
       "      <td>87.899752</td>\n",
       "      <td>23.466025</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>End-to-End</td>\n",
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       "      <td>2</td>\n",
       "      <td>85.227429</td>\n",
       "      <td>85.410200</td>\n",
       "      <td>2.271171</td>\n",
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       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>End-to-End</td>\n",
       "      <td>1.0</td>\n",
       "      <td>1</td>\n",
       "      <td>84.115011</td>\n",
       "      <td>90.122915</td>\n",
       "      <td>23.269268</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>End-to-End</td>\n",
       "      <td>1.0</td>\n",
       "      <td>2</td>\n",
       "      <td>89.275202</td>\n",
       "      <td>89.233577</td>\n",
       "      <td>0.427130</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>5</th>\n",
       "      <td>End-to-End</td>\n",
       "      <td>1.5</td>\n",
       "      <td>1</td>\n",
       "      <td>82.870680</td>\n",
       "      <td>88.681055</td>\n",
       "      <td>22.502519</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>5</th>\n",
       "      <td>End-to-End</td>\n",
       "      <td>1.5</td>\n",
       "      <td>2</td>\n",
       "      <td>66.708657</td>\n",
       "      <td>83.873795</td>\n",
       "      <td>26.414757</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>6</th>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>0.5</td>\n",
       "      <td>1</td>\n",
       "      <td>91.973868</td>\n",
       "      <td>92.341251</td>\n",
       "      <td>2.177972</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>6</th>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>0.5</td>\n",
       "      <td>2</td>\n",
       "      <td>85.441461</td>\n",
       "      <td>86.474301</td>\n",
       "      <td>3.671483</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>7</th>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>1.0</td>\n",
       "      <td>1</td>\n",
       "      <td>94.607426</td>\n",
       "      <td>94.521820</td>\n",
       "      <td>0.600353</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>7</th>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>1.0</td>\n",
       "      <td>2</td>\n",
       "      <td>92.205044</td>\n",
       "      <td>94.522408</td>\n",
       "      <td>9.057406</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>8</th>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>1</td>\n",
       "      <td>87.002707</td>\n",
       "      <td>86.971656</td>\n",
       "      <td>0.449500</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>8</th>\n",
       "      <td>Pure Pursuit</td>\n",
       "      <td>1.5</td>\n",
       "      <td>2</td>\n",
       "      <td>65.343170</td>\n",
       "      <td>78.930818</td>\n",
       "      <td>23.595520</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "           Controller Velocity Number of Opponents Safety Percentage  \\\n",
       "                                                                mean   \n",
       "0  Disparity Extender      0.5                   1         62.928069   \n",
       "0  Disparity Extender      0.5                   2         62.104503   \n",
       "1  Disparity Extender      1.0                   1         44.638695   \n",
       "1  Disparity Extender      1.0                   2         39.642464   \n",
       "2  Disparity Extender      1.5                   1         33.583696   \n",
       "2  Disparity Extender      1.5                   2         33.885386   \n",
       "3          End-to-End      0.5                   1         84.151742   \n",
       "3          End-to-End      0.5                   2         85.227429   \n",
       "4          End-to-End      1.0                   1         84.115011   \n",
       "4          End-to-End      1.0                   2         89.275202   \n",
       "5          End-to-End      1.5                   1         82.870680   \n",
       "5          End-to-End      1.5                   2         66.708657   \n",
       "6        Pure Pursuit      0.5                   1         91.973868   \n",
       "6        Pure Pursuit      0.5                   2         85.441461   \n",
       "7        Pure Pursuit      1.0                   1         94.607426   \n",
       "7        Pure Pursuit      1.0                   2         92.205044   \n",
       "8        Pure Pursuit      1.5                   1         87.002707   \n",
       "8        Pure Pursuit      1.5                   2         65.343170   \n",
       "\n",
       "                         \n",
       "      median        std  \n",
       "0  62.638889   0.762251  \n",
       "0  61.936049   0.680225  \n",
       "1  45.182292   2.838792  \n",
       "1  40.035119   2.397727  \n",
       "2  35.697835   9.177905  \n",
       "2  36.644295   9.149214  \n",
       "3  87.899752  23.466025  \n",
       "3  85.410200   2.271171  \n",
       "4  90.122915  23.269268  \n",
       "4  89.233577   0.427130  \n",
       "5  88.681055  22.502519  \n",
       "5  83.873795  26.414757  \n",
       "6  92.341251   2.177972  \n",
       "6  86.474301   3.671483  \n",
       "7  94.521820   0.600353  \n",
       "7  94.522408   9.057406  \n",
       "8  86.971656   0.449500  \n",
       "8  78.930818  23.595520  "
      ]
     },
     "execution_count": 62,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "pd.concat([results2.reset_index(),results.reset_index()]).groupby([\"Controller\",\"Velocity\"]).head(10).sort_values(by=[\"Controller\",\"Velocity\",\"Number of Opponents\"])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 63,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "      <th></th>\n",
       "      <th></th>\n",
       "      <th>mean</th>\n",
       "      <th>median</th>\n",
       "      <th>std</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Controller</th>\n",
       "      <th>Velocity</th>\n",
       "      <th>Number of Opponents</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th rowspan=\"6\" valign=\"top\">Disparity Extender</th>\n",
       "      <th rowspan=\"2\" valign=\"top\">0.5</th>\n",
       "      <th>1</th>\n",
       "      <td>62.928069</td>\n",
       "      <td>62.638889</td>\n",
       "      <td>0.762251</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>62.104503</td>\n",
       "      <td>61.936049</td>\n",
       "      <td>0.680225</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"2\" valign=\"top\">1.0</th>\n",
       "      <th>1</th>\n",
       "      <td>44.638695</td>\n",
       "      <td>45.182292</td>\n",
       "      <td>2.838792</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>39.642464</td>\n",
       "      <td>40.035119</td>\n",
       "      <td>2.397727</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"2\" valign=\"top\">1.5</th>\n",
       "      <th>1</th>\n",
       "      <td>33.583696</td>\n",
       "      <td>35.697835</td>\n",
       "      <td>9.177905</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>33.885386</td>\n",
       "      <td>36.644295</td>\n",
       "      <td>9.149214</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"6\" valign=\"top\">End-to-End</th>\n",
       "      <th rowspan=\"2\" valign=\"top\">0.5</th>\n",
       "      <th>1</th>\n",
       "      <td>84.151742</td>\n",
       "      <td>87.899752</td>\n",
       "      <td>23.466025</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>85.227429</td>\n",
       "      <td>85.410200</td>\n",
       "      <td>2.271171</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"2\" valign=\"top\">1.0</th>\n",
       "      <th>1</th>\n",
       "      <td>84.115011</td>\n",
       "      <td>90.122915</td>\n",
       "      <td>23.269268</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>89.275202</td>\n",
       "      <td>89.233577</td>\n",
       "      <td>0.427130</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"2\" valign=\"top\">1.5</th>\n",
       "      <th>1</th>\n",
       "      <td>82.870680</td>\n",
       "      <td>88.681055</td>\n",
       "      <td>22.502519</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>66.708657</td>\n",
       "      <td>83.873795</td>\n",
       "      <td>26.414757</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"6\" valign=\"top\">Pure Pursuit</th>\n",
       "      <th rowspan=\"2\" valign=\"top\">0.5</th>\n",
       "      <th>1</th>\n",
       "      <td>91.973868</td>\n",
       "      <td>92.341251</td>\n",
       "      <td>2.177972</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>85.441461</td>\n",
       "      <td>86.474301</td>\n",
       "      <td>3.671483</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"2\" valign=\"top\">1.0</th>\n",
       "      <th>1</th>\n",
       "      <td>94.607426</td>\n",
       "      <td>94.521820</td>\n",
       "      <td>0.600353</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>92.205044</td>\n",
       "      <td>94.522408</td>\n",
       "      <td>9.057406</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th rowspan=\"2\" valign=\"top\">1.5</th>\n",
       "      <th>1</th>\n",
       "      <td>87.002707</td>\n",
       "      <td>86.971656</td>\n",
       "      <td>0.449500</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>65.343170</td>\n",
       "      <td>78.930818</td>\n",
       "      <td>23.595520</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "                                                Safety Percentage             \\\n",
       "                                                             mean     median   \n",
       "Controller         Velocity Number of Opponents                                \n",
       "Disparity Extender 0.5      1                           62.928069  62.638889   \n",
       "                            2                           62.104503  61.936049   \n",
       "                   1.0      1                           44.638695  45.182292   \n",
       "                            2                           39.642464  40.035119   \n",
       "                   1.5      1                           33.583696  35.697835   \n",
       "                            2                           33.885386  36.644295   \n",
       "End-to-End         0.5      1                           84.151742  87.899752   \n",
       "                            2                           85.227429  85.410200   \n",
       "                   1.0      1                           84.115011  90.122915   \n",
       "                            2                           89.275202  89.233577   \n",
       "                   1.5      1                           82.870680  88.681055   \n",
       "                            2                           66.708657  83.873795   \n",
       "Pure Pursuit       0.5      1                           91.973868  92.341251   \n",
       "                            2                           85.441461  86.474301   \n",
       "                   1.0      1                           94.607426  94.521820   \n",
       "                            2                           92.205044  94.522408   \n",
       "                   1.5      1                           87.002707  86.971656   \n",
       "                            2                           65.343170  78.930818   \n",
       "\n",
       "                                                            \n",
       "                                                       std  \n",
       "Controller         Velocity Number of Opponents             \n",
       "Disparity Extender 0.5      1                     0.762251  \n",
       "                            2                     0.680225  \n",
       "                   1.0      1                     2.838792  \n",
       "                            2                     2.397727  \n",
       "                   1.5      1                     9.177905  \n",
       "                            2                     9.149214  \n",
       "End-to-End         0.5      1                    23.466025  \n",
       "                            2                     2.271171  \n",
       "                   1.0      1                    23.269268  \n",
       "                            2                     0.427130  \n",
       "                   1.5      1                    22.502519  \n",
       "                            2                    26.414757  \n",
       "Pure Pursuit       0.5      1                     2.177972  \n",
       "                            2                     3.671483  \n",
       "                   1.0      1                     0.600353  \n",
       "                            2                     9.057406  \n",
       "                   1.5      1                     0.449500  \n",
       "                            2                    23.595520  "
      ]
     },
     "execution_count": 63,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "merge = pd.concat([results2.reset_index(),results.reset_index()]).groupby([\"Controller\",\"Velocity\",\"Number of Opponents\"]).mean()\n",
    "merge"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 65,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\\begin{tabular}{lllrrr}\n",
      "\\toprule\n",
      "             &     &   & \\multicolumn{3}{l}{Safety Percentage} \\\\\n",
      "             &     &   &              mean & median &    std \\\\\n",
      "Controller & Velocity & Number of Opponents &                   &        &        \\\\\n",
      "\\midrule\n",
      "Disparity Extender & 0.5 & 1 &             62.93 &  62.64 &   0.76 \\\\\n",
      "             &     & 2 &             62.10 &  61.94 &   0.68 \\\\\n",
      "             & 1.0 & 1 &             44.64 &  45.18 &   2.84 \\\\\n",
      "             &     & 2 &             39.64 &  40.04 &   2.40 \\\\\n",
      "             & 1.5 & 1 &             33.58 &  35.70 &   9.18 \\\\\n",
      "             &     & 2 &             33.89 &  36.64 &   9.15 \\\\\n",
      "End-to-End & 0.5 & 1 &             84.15 &  87.90 &  23.47 \\\\\n",
      "             &     & 2 &             85.23 &  85.41 &   2.27 \\\\\n",
      "             & 1.0 & 1 &             84.12 &  90.12 &  23.27 \\\\\n",
      "             &     & 2 &             89.28 &  89.23 &   0.43 \\\\\n",
      "             & 1.5 & 1 &             82.87 &  88.68 &  22.50 \\\\\n",
      "             &     & 2 &             66.71 &  83.87 &  26.41 \\\\\n",
      "Pure Pursuit & 0.5 & 1 &             91.97 &  92.34 &   2.18 \\\\\n",
      "             &     & 2 &             85.44 &  86.47 &   3.67 \\\\\n",
      "             & 1.0 & 1 &             94.61 &  94.52 &   0.60 \\\\\n",
      "             &     & 2 &             92.21 &  94.52 &   9.06 \\\\\n",
      "             & 1.5 & 1 &             87.00 &  86.97 &   0.45 \\\\\n",
      "             &     & 2 &             65.34 &  78.93 &  23.60 \\\\\n",
      "\\bottomrule\n",
      "\\end{tabular}\n",
      "\n"
     ]
    }
   ],
   "source": [
    "print(round(merge,2).to_latex())"
   ]
  }
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