diff --git a/src/rtreach/logs/aij_experiments/Simplex vs Control Experiments.ipynb b/src/rtreach/logs/aij_experiments/Simplex vs Control Experiments.ipynb new file mode 100644 index 00000000..93949be3 --- /dev/null +++ b/src/rtreach/logs/aij_experiments/Simplex vs Control Experiments.ipynb @@ -0,0 +1,1670 @@ +{ + "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": 20, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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time_strtime_taken_leccontrollernumber_of_opponentsnumber_of_obstaclesregimevelocitycollision_percentage
001/04/2022/11:49:210.179487disparity_extender20true0.50.0
101/04/2022/11:51:300.725962disparity_extender20true0.50.0
201/04/2022/11:53:400.723747disparity_extender20true0.50.0
301/04/2022/11:55:310.170236disparity_extender20true0.50.0
401/04/2022/11:57:410.597610disparity_extender20true0.50.0
...........................
001/04/2022/11:23:430.203046e2e35false1.5100.0
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174 rows × 8 columns

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" + ], + "text/plain": [ + " time_str time_taken_lec controller \\\n", + "0 01/04/2022/11:49:21 0.179487 disparity_extender \n", + "1 01/04/2022/11:51:30 0.725962 disparity_extender \n", + "2 01/04/2022/11:53:40 0.723747 disparity_extender \n", + "3 01/04/2022/11:55:31 0.170236 disparity_extender \n", + "4 01/04/2022/11:57:41 0.597610 disparity_extender \n", + ".. ... ... ... \n", + "0 01/04/2022/11:23:43 0.203046 e2e \n", + "1 01/04/2022/11:26:53 0.187553 e2e \n", + "2 01/04/2022/11:30:07 0.291076 e2e \n", + "3 01/04/2022/11:33:20 0.195266 e2e \n", + "4 01/04/2022/11:36:32 0.177460 e2e \n", + "\n", + " number_of_opponents number_of_obstacles regime velocity \\\n", + "0 2 0 true 0.5 \n", + "1 2 0 true 0.5 \n", + "2 2 0 true 0.5 \n", + "3 2 0 true 0.5 \n", + "4 2 0 true 0.5 \n", + ".. ... ... ... ... \n", + "0 3 5 false 1.5 \n", + "1 3 5 false 1.5 \n", + "2 3 5 false 1.5 \n", + "3 3 5 false 1.5 \n", + "4 3 5 false 1.5 \n", + "\n", + " collision_percentage \n", + "0 0.0 \n", + "1 0.0 \n", + "2 0.0 \n", + "3 0.0 \n", + "4 0.0 \n", + ".. ... \n", + "0 100.0 \n", + "1 100.0 \n", + "2 100.0 \n", + "3 100.0 \n", + "4 100.0 \n", + "\n", + "[174 rows x 8 columns]" + ] + }, + "execution_count": 20, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "original_dfs = []\n", + "opponents = [2,3]\n", + "obstacles = [0,5]\n", + "\n", + "control = [\"true\",\"false\"]\n", + "velocities = [\"0.5\",\"1.0\",\"1.5\"]\n", + "velocities_fn = {\"0.5\":\"0.500000\", \"1.0\":\"1.000000\",\"1.5\":\"1.500000\"}\n", + "controllers= [\"disparity_extender\",\"pure_pursuit\",\"e2e\"]\n", + "file_str = \"{}_{}_1.000000_{}_{}_0.0_0.0_{}.csv\"\n", + "collision_str = \"collisions_{}_{}_{}_{}_cones_{}.csv\"\n", + "for cntrl in controllers:\n", + " for opp in opponents:\n", + " for obs in obstacles:\n", + " for vel in velocities:\n", + " for regime in control:\n", + " \n", + " file_name = \"simplex\"\n", + " if(not regime):\n", + " file_name = \"nosimplex\"\n", + " \n", + " fh = file_str.format(file_name,cntrl,opp,obs,velocities_fn[vel])\n", + " ch = collision_str.format(cntrl,opp,obs,vel,regime)\n", + " \n", + " try:\n", + " df = pd.read_csv(fh,header=None)\n", + " df =df.rename(columns={0:'time_str',1:'time_taken_lec',2:'time_taken_safety_controller',3:'area'})\n", + " df['controller'] = cntrl\n", + " df['time_taken_lec'] * 100\n", + " df['number_of_opponents'] = opp\n", + " df['number_of_obstacles']= obs\n", + " df['regime'] = regime\n", + " df['velocity'] = vel\n", + " \n", + " df = df.drop(columns = [\"time_taken_safety_controller\",\"area\"])\n", + " \n", + " if(os.path.exists(ch)):\n", + " df['collision_percentage'] = ((c_df.count()[0])/5)*100\n", + " else:\n", + " df['collision_percentage'] = 0.0\n", + " \n", + " original_dfs.append(df)\n", + " except:\n", + " continue\n", + "\n", + " \n", + "dfs = pd.concat(original_dfs)\n", + "dfs\n", + " \n", + " \n" + ] + }, + { + "cell_type": "code", + "execution_count": 21, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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time_strtime_taken_leccontrollernumber_of_opponentsnumber_of_obstaclesregimevelocitycollision_percentage
001/04/2022/11:49:210.179487disparity_extender20false0.5100.0
101/04/2022/11:51:300.725962disparity_extender20false0.5100.0
201/04/2022/11:53:400.723747disparity_extender20false0.5100.0
301/04/2022/11:55:310.170236disparity_extender20false0.5100.0
401/04/2022/11:57:410.597610disparity_extender20false0.5100.0
...........................
001/04/2022/11:23:430.203046e2e35false1.5100.0
101/04/2022/11:26:530.187553e2e35false1.5100.0
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301/04/2022/11:33:200.195266e2e35false1.5100.0
401/04/2022/11:36:320.177460e2e35false1.5100.0
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110 rows × 8 columns

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" + ], + "text/plain": [ + " time_str time_taken_lec controller \\\n", + "0 01/04/2022/11:49:21 0.179487 disparity_extender \n", + "1 01/04/2022/11:51:30 0.725962 disparity_extender \n", + "2 01/04/2022/11:53:40 0.723747 disparity_extender \n", + "3 01/04/2022/11:55:31 0.170236 disparity_extender \n", + "4 01/04/2022/11:57:41 0.597610 disparity_extender \n", + ".. ... ... ... \n", + "0 01/04/2022/11:23:43 0.203046 e2e \n", + "1 01/04/2022/11:26:53 0.187553 e2e \n", + "2 01/04/2022/11:30:07 0.291076 e2e \n", + "3 01/04/2022/11:33:20 0.195266 e2e \n", + "4 01/04/2022/11:36:32 0.177460 e2e \n", + "\n", + " number_of_opponents number_of_obstacles regime velocity \\\n", + "0 2 0 false 0.5 \n", + "1 2 0 false 0.5 \n", + "2 2 0 false 0.5 \n", + "3 2 0 false 0.5 \n", + "4 2 0 false 0.5 \n", + ".. ... ... ... ... \n", + "0 3 5 false 1.5 \n", + "1 3 5 false 1.5 \n", + "2 3 5 false 1.5 \n", + "3 3 5 false 1.5 \n", + "4 3 5 false 1.5 \n", + "\n", + " collision_percentage \n", + "0 100.0 \n", + "1 100.0 \n", + "2 100.0 \n", + "3 100.0 \n", + "4 100.0 \n", + ".. ... \n", + "0 100.0 \n", + "1 100.0 \n", + "2 100.0 \n", + "3 100.0 \n", + "4 100.0 \n", + "\n", + "[110 rows x 8 columns]" + ] + }, + "execution_count": 21, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "dfs[dfs['collision_percentage'] > 0]" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Safety Analysis" + ] + }, + { + "cell_type": "code", + "execution_count": 22, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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time_taken_leccollision_percentage
meanstdmeanstd
controllernumber_of_opponentsnumber_of_obstaclesregimevelocity
disparity_extender20false0.50.4794080.282844100.00.0
1.00.2522960.0051820.00.0
1.50.1565070.003625100.00.0
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1.00.2522960.0051820.00.0
1.50.1565070.0036250.00.0
5false0.50.1757000.005474100.00.0
1.00.2532880.0047770.00.0
1.50.1530370.0033100.00.0
true0.50.1757000.0054740.00.0
1.00.2532880.0047770.00.0
1.50.1530370.0033100.00.0
e2e20false0.50.8880050.068944100.00.0
1.00.4385600.029374100.00.0
1.50.2911140.023743100.00.0
true0.50.8880050.068944100.00.0
1.00.4385600.029374100.00.0
1.50.2911140.023743100.00.0
5false0.50.8291630.025204100.00.0
1.00.4738820.042548100.00.0
1.50.3733190.100759100.00.0
true0.50.8291630.025204100.00.0
1.00.4738820.042548100.00.0
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30false0.50.9838420.0147500.00.0
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1.50.4263850.104812100.00.0
true0.50.9838420.0147500.00.0
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1.50.4263850.1048120.00.0
5false0.50.9125120.006847100.00.0
1.00.2952720.025885100.00.0
1.50.2108800.045819100.00.0
true0.50.9125120.0068470.00.0
1.00.2952720.025885100.00.0
1.50.2108800.0458190.00.0
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" + ], + "text/plain": [ + " time_taken_lec \\\n", + " mean \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 false 0.5 0.479408 \n", + " 1.0 0.252296 \n", + " 1.5 0.156507 \n", + " true 0.5 0.479408 \n", + " 1.0 0.252296 \n", + " 1.5 0.156507 \n", + " 5 false 0.5 0.175700 \n", + " 1.0 0.253288 \n", + " 1.5 0.153037 \n", + " true 0.5 0.175700 \n", + " 1.0 0.253288 \n", + " 1.5 0.153037 \n", + "e2e 2 0 false 0.5 0.888005 \n", + " 1.0 0.438560 \n", + " 1.5 0.291114 \n", + " true 0.5 0.888005 \n", + " 1.0 0.438560 \n", + " 1.5 0.291114 \n", + " 5 false 0.5 0.829163 \n", + " 1.0 0.473882 \n", + " 1.5 0.373319 \n", + " true 0.5 0.829163 \n", + " 1.0 0.473882 \n", + " 1.5 0.373319 \n", + " 3 0 false 0.5 0.983842 \n", + " 1.0 0.364284 \n", + " 1.5 0.426385 \n", + " true 0.5 0.983842 \n", + " 1.0 0.364284 \n", + " 1.5 0.426385 \n", + " 5 false 0.5 0.912512 \n", + " 1.0 0.295272 \n", + " 1.5 0.210880 \n", + " true 0.5 0.912512 \n", + " 1.0 0.295272 \n", + " 1.5 0.210880 \n", + "\n", + " \\\n", + " std \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 false 0.5 0.282844 \n", + " 1.0 0.005182 \n", + " 1.5 0.003625 \n", + " true 0.5 0.282844 \n", + " 1.0 0.005182 \n", + " 1.5 0.003625 \n", + " 5 false 0.5 0.005474 \n", + " 1.0 0.004777 \n", + " 1.5 0.003310 \n", + " true 0.5 0.005474 \n", + " 1.0 0.004777 \n", + " 1.5 0.003310 \n", + "e2e 2 0 false 0.5 0.068944 \n", + " 1.0 0.029374 \n", + " 1.5 0.023743 \n", + " true 0.5 0.068944 \n", + " 1.0 0.029374 \n", + " 1.5 0.023743 \n", + " 5 false 0.5 0.025204 \n", + " 1.0 0.042548 \n", + " 1.5 0.100759 \n", + " true 0.5 0.025204 \n", + " 1.0 0.042548 \n", + " 1.5 0.100759 \n", + " 3 0 false 0.5 0.014750 \n", + " 1.0 0.038441 \n", + " 1.5 0.104812 \n", + " true 0.5 0.014750 \n", + " 1.0 0.038441 \n", + " 1.5 0.104812 \n", + " 5 false 0.5 0.006847 \n", + " 1.0 0.025885 \n", + " 1.5 0.045819 \n", + " true 0.5 0.006847 \n", + " 1.0 0.025885 \n", + " 1.5 0.045819 \n", + "\n", + " collision_percentage \\\n", + " mean \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 false 0.5 100.0 \n", + " 1.0 0.0 \n", + " 1.5 100.0 \n", + " true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 false 0.5 100.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + "e2e 2 0 false 0.5 100.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", + " true 0.5 100.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", + " 5 false 0.5 100.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", + " true 0.5 100.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", + " 3 0 false 0.5 0.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", + " true 0.5 0.0 \n", + " 1.0 100.0 \n", + " 1.5 0.0 \n", + " 5 false 0.5 100.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", + " true 0.5 0.0 \n", + " 1.0 100.0 \n", + " 1.5 0.0 \n", + "\n", + " \n", + " std \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 false 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 false 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + "e2e 2 0 false 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 false 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 3 0 false 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 false 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 " + ] + }, + "execution_count": 22, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "dfs.groupby([\"controller\",\"number_of_opponents\",\"number_of_obstacles\",\"regime\",\"velocity\"]).agg([\"mean\",\"std\"])" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Simplex" + ] + }, + { + "cell_type": "code", + "execution_count": 27, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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time_taken_leccollision_percentage
meanstdmeanstd
controllernumber_of_opponentsnumber_of_obstaclesregimevelocity
disparity_extender20true0.50.4794080.2828440.00.0
1.00.2522960.0051820.00.0
1.50.1565070.0036250.00.0
5true0.50.1757000.0054740.00.0
1.00.2532880.0047770.00.0
1.50.1530370.0033100.00.0
e2e20true0.50.8880050.068944100.00.0
1.00.4385600.029374100.00.0
1.50.2911140.023743100.00.0
5true0.50.8291630.025204100.00.0
1.00.4738820.042548100.00.0
1.50.3733190.100759100.00.0
30true0.50.9838420.0147500.00.0
1.00.3642840.038441100.00.0
1.50.4263850.1048120.00.0
5true0.50.9125120.0068470.00.0
1.00.2952720.025885100.00.0
1.50.2108800.0458190.00.0
\n", + "
" + ], + "text/plain": [ + " time_taken_lec \\\n", + " mean \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 true 0.5 0.479408 \n", + " 1.0 0.252296 \n", + " 1.5 0.156507 \n", + " 5 true 0.5 0.175700 \n", + " 1.0 0.253288 \n", + " 1.5 0.153037 \n", + "e2e 2 0 true 0.5 0.888005 \n", + " 1.0 0.438560 \n", + " 1.5 0.291114 \n", + " 5 true 0.5 0.829163 \n", + " 1.0 0.473882 \n", + " 1.5 0.373319 \n", + " 3 0 true 0.5 0.983842 \n", + " 1.0 0.364284 \n", + " 1.5 0.426385 \n", + " 5 true 0.5 0.912512 \n", + " 1.0 0.295272 \n", + " 1.5 0.210880 \n", + "\n", + " \\\n", + " std \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 true 0.5 0.282844 \n", + " 1.0 0.005182 \n", + " 1.5 0.003625 \n", + " 5 true 0.5 0.005474 \n", + " 1.0 0.004777 \n", + " 1.5 0.003310 \n", + "e2e 2 0 true 0.5 0.068944 \n", + " 1.0 0.029374 \n", + " 1.5 0.023743 \n", + " 5 true 0.5 0.025204 \n", + " 1.0 0.042548 \n", + " 1.5 0.100759 \n", + " 3 0 true 0.5 0.014750 \n", + " 1.0 0.038441 \n", + " 1.5 0.104812 \n", + " 5 true 0.5 0.006847 \n", + " 1.0 0.025885 \n", + " 1.5 0.045819 \n", + "\n", + " collision_percentage \\\n", + " mean \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + "e2e 2 0 true 0.5 100.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", + " 5 true 0.5 100.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", + " 3 0 true 0.5 0.0 \n", + " 1.0 100.0 \n", + " 1.5 0.0 \n", + " 5 true 0.5 0.0 \n", + " 1.0 100.0 \n", + " 1.5 0.0 \n", + "\n", + " \n", + " std \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + "e2e 2 0 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 3 0 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 " + ] + }, + "execution_count": 27, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "simplex = dfs[dfs[\"regime\"]==\"true\"]\n", + "simplex.groupby([\"controller\",\"number_of_opponents\",\"number_of_obstacles\",\"regime\",\"velocity\"]).agg([\"mean\",\"std\"])" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### No Simplex" + ] + }, + { + "cell_type": "code", + "execution_count": 28, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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time_taken_leccollision_percentage
meanstdmeanstd
controllernumber_of_opponentsnumber_of_obstaclesregimevelocity
disparity_extender20true0.50.4794080.2828440.00.0
1.00.2522960.0051820.00.0
1.50.1565070.0036250.00.0
5true0.50.1757000.0054740.00.0
1.00.2532880.0047770.00.0
1.50.1530370.0033100.00.0
e2e20true0.50.8880050.068944100.00.0
1.00.4385600.029374100.00.0
1.50.2911140.023743100.00.0
5true0.50.8291630.025204100.00.0
1.00.4738820.042548100.00.0
1.50.3733190.100759100.00.0
30true0.50.9838420.0147500.00.0
1.00.3642840.038441100.00.0
1.50.4263850.1048120.00.0
5true0.50.9125120.0068470.00.0
1.00.2952720.025885100.00.0
1.50.2108800.0458190.00.0
\n", + "
" + ], + "text/plain": [ + " time_taken_lec \\\n", + " mean \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 true 0.5 0.479408 \n", + " 1.0 0.252296 \n", + " 1.5 0.156507 \n", + " 5 true 0.5 0.175700 \n", + " 1.0 0.253288 \n", + " 1.5 0.153037 \n", + "e2e 2 0 true 0.5 0.888005 \n", + " 1.0 0.438560 \n", + " 1.5 0.291114 \n", + " 5 true 0.5 0.829163 \n", + " 1.0 0.473882 \n", + " 1.5 0.373319 \n", + " 3 0 true 0.5 0.983842 \n", + " 1.0 0.364284 \n", + " 1.5 0.426385 \n", + " 5 true 0.5 0.912512 \n", + " 1.0 0.295272 \n", + " 1.5 0.210880 \n", + "\n", + " \\\n", + " std \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 true 0.5 0.282844 \n", + " 1.0 0.005182 \n", + " 1.5 0.003625 \n", + " 5 true 0.5 0.005474 \n", + " 1.0 0.004777 \n", + " 1.5 0.003310 \n", + "e2e 2 0 true 0.5 0.068944 \n", + " 1.0 0.029374 \n", + " 1.5 0.023743 \n", + " 5 true 0.5 0.025204 \n", + " 1.0 0.042548 \n", + " 1.5 0.100759 \n", + " 3 0 true 0.5 0.014750 \n", + " 1.0 0.038441 \n", + " 1.5 0.104812 \n", + " 5 true 0.5 0.006847 \n", + " 1.0 0.025885 \n", + " 1.5 0.045819 \n", + "\n", + " collision_percentage \\\n", + " mean \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + "e2e 2 0 true 0.5 100.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", + " 5 true 0.5 100.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", + " 3 0 true 0.5 0.0 \n", + " 1.0 100.0 \n", + " 1.5 0.0 \n", + " 5 true 0.5 0.0 \n", + " 1.0 100.0 \n", + " 1.5 0.0 \n", + "\n", + " \n", + " std \n", + "controller number_of_opponents number_of_obstacles regime velocity \n", + "disparity_extender 2 0 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + "e2e 2 0 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 3 0 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 5 true 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 " + ] + }, + "execution_count": 28, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "no_simplex = dfs[dfs[\"regime\"]==\"true\"]\n", + "no_simplex.groupby([\"controller\",\"number_of_opponents\",\"number_of_obstacles\",\"regime\",\"velocity\"]).agg([\"mean\",\"std\"])" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_0_0.5_cones.csv b/src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_0_0.5_cones_false.csv similarity index 100% rename from src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_0_0.5_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_0_0.5_cones_false.csv diff --git a/src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_0_1.5_cones.csv b/src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_0_1.5_cones_false.csv similarity index 100% rename from src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_0_1.5_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_0_1.5_cones_false.csv diff --git a/src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_5_0.5_cones.csv b/src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_5_0.5_cones_false.csv similarity index 100% rename from src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_5_0.5_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_disparity_extender_2_5_0.5_cones_false.csv diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_0.5_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_0.5_cones_false.csv similarity index 75% rename from src/rtreach/logs/aij_experiments/collisions_e2e_2_0_0.5_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_2_0_0.5_cones_false.csv index dd6f4468..04cc6177 100644 --- a/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_0.5_cones.csv +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_0.5_cones_false.csv @@ -1,4 +1,3 @@ -track_porto, 1524, 0, racecar, porto_track, 1 track_porto, 1524, 0, porto_track, racecar, 1 track_porto, 1524, 0, porto_track, racecar, 4 track_porto, 1524, 0, porto_track, racecar, 5 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_0.5_cones_true.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_0.5_cones_true.csv new file mode 100644 index 00000000..58947348 --- /dev/null +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_0.5_cones_true.csv @@ -0,0 +1 @@ +track_porto, 1524, 0, racecar, porto_track, 1 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.0_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.0_cones_false.csv similarity index 83% rename from src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.0_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.0_cones_false.csv index 79b050cb..24b4fefb 100644 --- a/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.0_cones.csv +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.0_cones_false.csv @@ -3,4 +3,3 @@ track_porto, 1524, 0, porto_track, racecar, 2 track_porto, 1524, 0, porto_track, racecar, 3 track_porto, 1524, 0, racecar, porto_track, 4 track_porto, 1524, 0, porto_track, racecar, 5 -track_porto, 1524, 0, porto_track, racecar, 3 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.0_cones_true.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.0_cones_true.csv new file mode 100644 index 00000000..24b4fefb --- /dev/null +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.0_cones_true.csv @@ -0,0 +1,5 @@ +track_porto, 1524, 0, porto_track, racecar, 1 +track_porto, 1524, 0, porto_track, racecar, 2 +track_porto, 1524, 0, porto_track, racecar, 3 +track_porto, 1524, 0, racecar, porto_track, 4 +track_porto, 1524, 0, porto_track, racecar, 5 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.5_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.5_cones_false.csv similarity index 55% rename from src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.5_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.5_cones_false.csv index 3944e1c8..ab1109a8 100644 --- a/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.5_cones.csv +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.5_cones_false.csv @@ -1,9 +1,5 @@ track_porto, 1524, 0, racecar, porto_track, 1 track_porto, 1524, 0, racecar, porto_track, 2 -track_porto, 1524, 0, porto_track, racecar, 4 -track_porto, 1524, 0, porto_track, racecar, 5 -track_porto, 1524, 0, racecar, porto_track, 1 -track_porto, 1524, 0, racecar, porto_track, 2 track_porto, 1524, 0, porto_track, racecar, 3 track_porto, 1524, 0, porto_track, racecar, 4 track_porto, 1524, 0, racecar, porto_track, 5 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.5_cones_true.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.5_cones_true.csv new file mode 100644 index 00000000..97c2c8cd --- /dev/null +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_0_1.5_cones_true.csv @@ -0,0 +1,4 @@ +track_porto, 1524, 0, racecar, porto_track, 1 +track_porto, 1524, 0, racecar, porto_track, 2 +track_porto, 1524, 0, porto_track, racecar, 4 +track_porto, 1524, 0, porto_track, racecar, 5 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_0.5_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_0.5_cones_false.csv similarity index 57% rename from src/rtreach/logs/aij_experiments/collisions_e2e_2_5_0.5_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_2_5_0.5_cones_false.csv index 48ea6395..060af7ad 100644 --- a/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_0.5_cones.csv +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_0.5_cones_false.csv @@ -2,6 +2,3 @@ track_porto, 1524, 5, porto_track, racecar, 1 track_porto, 1524, 5, racecar, porto_track, 2 track_porto, 1524, 5, racecar, porto_track, 3 track_porto, 1524, 5, porto_track, racecar, 4 -track_porto, 1524, 5, racecar, porto_track, 1 -track_porto, 1524, 5, porto_track, racecar, 4 -track_porto, 1524, 5, porto_track, racecar, 5 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_0.5_cones_true.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_0.5_cones_true.csv new file mode 100644 index 00000000..060af7ad --- /dev/null +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_0.5_cones_true.csv @@ -0,0 +1,4 @@ +track_porto, 1524, 5, porto_track, racecar, 1 +track_porto, 1524, 5, racecar, porto_track, 2 +track_porto, 1524, 5, racecar, porto_track, 3 +track_porto, 1524, 5, porto_track, racecar, 4 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.0_cones_false.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.0_cones_false.csv new file mode 100644 index 00000000..d0fbafc3 --- /dev/null +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.0_cones_false.csv @@ -0,0 +1,2 @@ +track_porto, 1524, 5, racecar2, racecar, 2 +track_porto, 1524, 5, racecar, porto_track, 3 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.0_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.0_cones_true.csv similarity index 70% rename from src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.0_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.0_cones_true.csv index da5dde55..d89f1ddd 100644 --- a/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.0_cones.csv +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.0_cones_true.csv @@ -3,5 +3,3 @@ track_porto, 1524, 5, racecar, racecar2, 2 track_porto, 1524, 5, racecar, racecar2, 3 track_porto, 1524, 5, racecar2, racecar, 4 track_porto, 1524, 5, racecar2, racecar, 5 -track_porto, 1524, 5, racecar2, racecar, 2 -track_porto, 1524, 5, racecar, porto_track, 3 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.5_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.5_cones_false.csv similarity index 55% rename from src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.5_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.5_cones_false.csv index 6eca309d..84073b37 100644 --- a/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.5_cones.csv +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.5_cones_false.csv @@ -3,7 +3,3 @@ track_porto, 1524, 5, porto_track, racecar, 2 track_porto, 1524, 5, porto_track, racecar, 3 track_porto, 1524, 5, Cone44, racecar, 4 track_porto, 1524, 5, racecar, porto_track, 5 -track_porto, 1524, 5, racecar, porto_track, 1 -track_porto, 1524, 5, porto_track, racecar, 3 -track_porto, 1524, 5, porto_track, racecar, 4 -track_porto, 1524, 5, porto_track, racecar, 5 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.5_cones_true.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.5_cones_true.csv new file mode 100644 index 00000000..3d583614 --- /dev/null +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_2_5_1.5_cones_true.csv @@ -0,0 +1,4 @@ +track_porto, 1524, 5, racecar, porto_track, 1 +track_porto, 1524, 5, porto_track, racecar, 3 +track_porto, 1524, 5, porto_track, racecar, 4 +track_porto, 1524, 5, porto_track, racecar, 5 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.0_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.0_cones_false.csv similarity index 83% rename from src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.0_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.0_cones_false.csv index 137d064c..cf0d4e28 100644 --- a/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.0_cones.csv +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.0_cones_false.csv @@ -3,4 +3,3 @@ track_porto, 1524, 0, racecar, racecar3, 2 track_porto, 1524, 0, racecar, racecar3, 3 track_porto, 1524, 0, racecar, racecar2, 4 track_porto, 1524, 0, racecar, racecar2, 5 -track_porto, 1524, 0, racecar, racecar3, 3 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.0_cones_true.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.0_cones_true.csv new file mode 100644 index 00000000..631f0f5b --- /dev/null +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.0_cones_true.csv @@ -0,0 +1 @@ +track_porto, 1524, 0, racecar, racecar3, 3 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.5_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.5_cones_false.csv similarity index 100% rename from src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.5_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.5_cones_false.csv diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_0.5_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_0.5_cones_false.csv similarity index 100% rename from src/rtreach/logs/aij_experiments/collisions_e2e_3_5_0.5_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_3_5_0.5_cones_false.csv diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.0_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.0_cones_false.csv similarity index 83% rename from src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.0_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.0_cones_false.csv index 294ed58a..d1110325 100644 --- a/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.0_cones.csv +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.0_cones_false.csv @@ -3,4 +3,3 @@ track_porto, 1524, 5, racecar, racecar3, 2 track_porto, 1524, 5, racecar3, racecar, 3 track_porto, 1524, 5, racecar, porto_track, 4 track_porto, 1524, 5, racecar2, racecar, 5 -track_porto, 1524, 5, racecar, racecar3, 3 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.0_cones_true.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.0_cones_true.csv new file mode 100644 index 00000000..db5d89cb --- /dev/null +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.0_cones_true.csv @@ -0,0 +1 @@ +track_porto, 1524, 5, racecar, racecar3, 3 diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.5_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.5_cones_false.csv similarity index 100% rename from src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.5_cones.csv rename to src/rtreach/logs/aij_experiments/collisions_e2e_3_5_1.5_cones_false.csv diff --git a/src/rtreach/logs/dynamic_obstacle_uncertainty/DynamicObstacleExperiments.ipynb b/src/rtreach/logs/dynamic_obstacle_uncertainty/DynamicObstacleExperiments.ipynb index 9115f629..ede3923e 100644 --- a/src/rtreach/logs/dynamic_obstacle_uncertainty/DynamicObstacleExperiments.ipynb +++ b/src/rtreach/logs/dynamic_obstacle_uncertainty/DynamicObstacleExperiments.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 30, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -21,7 +21,7 @@ }, { "cell_type": "code", - "execution_count": 31, + "execution_count": 2, "metadata": {}, "outputs": [ { @@ -208,7 +208,7 @@ "[1475 rows x 6 columns]" ] }, - "execution_count": 31, + "execution_count": 2, "metadata": {}, "output_type": "execute_result" } @@ -252,7 +252,7 @@ }, { "cell_type": "code", - "execution_count": 32, + "execution_count": 3, "metadata": {}, "outputs": [ { @@ -407,7 +407,7 @@ "[148 rows x 5 columns]" ] }, - "execution_count": 32, + "execution_count": 3, "metadata": {}, "output_type": "execute_result" } @@ -420,9 +420,91 @@ }, { "cell_type": "code", - "execution_count": 33, + "execution_count": 4, "metadata": {}, "outputs": [ + { + "data": { + "text/html": [ + " \n", + " " + ] + }, + "metadata": {}, + "output_type": "display_data" + }, { "data": { "application/vnd.plotly.v1+json": { @@ -598,12 +680,12 @@ 45.67845, 43.0196, 42.26275, - 42.885200000000005, + 42.8852, 45.2828, - 45.680749999999996, + 45.68075, 47.6506, 43.8674, - 44.6415, + 44.64149999999999, 43.6553, 44.1821, 48.31055, @@ -616,34 +698,34 @@ 45.81785, 46.8367, 46.054050000000004, - 43.24764999999999, + 43.24765, 46.51965, - 46.58070000000001, - 45.83885000000001, + 46.5807, + 45.83885, 46.5908, 44.510400000000004, 46.44835, 43.23375, 43.4343, 45.07835, - 41.73780000000001, + 41.7378, 44.9586, 44.43795, 43.941050000000004, 44.291250000000005, - 46.14574999999999, + 46.14575, 44.81765, 44.3137, 41.5171, 44.7728, 44.6648, - 45.97539999999999, - 43.988499999999995, + 45.9754, + 43.9885, 43.7878, 45.7842, 43.22795, - 43.1855, - 42.61495, + 43.185500000000005, + 42.61494999999999, 44.9156, 44.78935, 43.52445, @@ -651,10 +733,10 @@ 44.10575, 46.1716, 43.41785, - 44.136799999999994, + 44.1368, 43.0912, 43.51285, - 47.108200000000004, + 47.1082, 46.65325, 42.540000000000006, 44.2372, @@ -663,12 +745,12 @@ 44.1566, 43.11385, 42.20745, - 44.68345000000001, - 40.8794, + 44.68345, + 40.879400000000004, 52.125249999999994, 42.631, 42.385999999999996, - 41.17405000000001 + 41.17405 ] }, { @@ -846,10 +928,10 @@ 40.2014, 40.58585, 39.16875, - 38.56875, + 38.568749999999994, 35.156, 35.6147, - 33.637449999999994, + 33.63745, 31.61915, 31.64025, 32.53175, @@ -863,22 +945,22 @@ 31.8544, 30.9043, 31.31565, - 31.2738, + 31.273799999999998, 31.5298, 31.5089, 32.13535, 31.20125, 31.62785, - 31.856749999999998, + 31.85675, 29.5299, 28.3568, 29.13635, 29.8577, - 30.6056, - 29.615599999999997, + 30.605600000000003, + 29.6156, 29.26865, 29.3542, - 28.9061, + 28.906100000000002, 29.1101, 29.6044, 29.08685, @@ -892,7 +974,7 @@ 30.3292, 29.5107, 29.55925, - 29.384099999999997, + 29.384100000000004, 29.7482, 30.573700000000002, 30.499450000000003, @@ -901,13 +983,13 @@ 29.822499999999998, 31.436899999999998, 28.775799999999997, - 28.578250000000004, + 28.578249999999997, 30.5678, 29.414, 28.7573, 28.73995, 29.3991, - 30.055749999999996, + 30.05575, 30.25405, 30.86495 ] @@ -1494,7 +1576,6 @@ "arrowhead": 0, "arrowwidth": 1 }, - "autotypenumbers": "strict", "coloraxis": { "colorbar": { "outlinewidth": 0, @@ -1761,9 +1842,9 @@ } }, "text/html": [ - "
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