performance_analysis.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import os\n",
    "import pandas as pd\n",
    "from definitions import ROOT_DIR"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Performance analysis\n",
    "In this notebook we organize the results of the evaluation of the trained agents in tables, to facilitate the comparison between them. The tables are the same ones that are presented in the main paper and in the appendix.\n",
    "\n",
    "We first define some variables and postprocessing functions."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [],
   "source": [
    "env_names = [\"ant\", \"half_cheetah\", \"walker\", \"hopper\"]\n",
    "train_sigma_list = (\"sigma_01\", \"sigma_03\", \"sigma_05\")\n",
    "new_cols_dict = {\n",
    "    \"adapted\": \"RMA\",\n",
    "    \"attention\": \"DMAP\",\n",
    "    \"attention_no_encoding\": \"DMAP-ne\",\n",
    "    \"convnet\": \"TCN\",\n",
    "    \"oracle\": \"Oracle\",\n",
    "    \"simple\": \"Simple\",\n",
    "}\n",
    "env_name_dict = {\n",
    "    \"ant\": \"Ant\",\n",
    "    \"hopper\": \"Hopper\",\n",
    "    \"half_cheetah\": \"Half Cheetah\",\n",
    "    \"walker\": \"Walker\"\n",
    "}\n",
    "\n",
    "def index_rename(x):\n",
    "    for name in env_name_dict:\n",
    "        if name in x:\n",
    "            env_name = env_name_dict[name]\n",
    "    sigma = \".\".join((x[-2], x[-1]))\n",
    "    return f\"{env_name} $\\sigma={sigma}$\"\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Load the dataframes with the evaluations of the trained agents"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [],
   "source": [
    "summary_df_list = []\n",
    "for env_name in env_names:\n",
    "    df_name = f\"{env_name}_experiments_df.pkl\"\n",
    "    df_path = os.path.join(ROOT_DIR, \"data\", df_name)\n",
    "    summary_df_list.append(pd.read_pickle(df_path))\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Comparisons 1:1\n",
    "* Simple vs. Oracle IID\n",
    "* RMA vs. Oracle IID\n",
    "* TCN vs DMAP IID"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 51,
   "metadata": {},
   "outputs": [],
   "source": [
    "def algo_comparison_table(summary_df_list, algo_1, algo_2):\n",
    "    df_list = []\n",
    "    for idx, env_name in enumerate(env_names):\n",
    "        df = summary_df_list[idx]\n",
    "        df = df[(df.algorithm == algo_1) | (df.algorithm == algo_2)]\n",
    "        df = df[df.train_sigma == df.test_sigma].groupby([\"train_sigma\",\"algorithm\"],as_index=False).reward.agg([\"mean\", \"sem\"]).reset_index()\n",
    "        df[\"train_sigma\"] = df.train_sigma.apply(lambda x: float(f\"{x[-2]}.{x[-1]}\"))\n",
    "        df[\"env\"] = env_name\n",
    "        df = df.set_index(\"train_sigma\").sort_values(\"algorithm\", ascending=False)\n",
    "        df[\"reward\"] = df.apply(lambda x: f\"${int(round(x['mean']))} \\pm {int(round(x['sem']))}$\", axis=1)\n",
    "        df = df.pivot_table(values='reward', index=df.index, columns=[\"env\", \"algorithm\"], aggfunc='first')\n",
    "        df_list.append(df)\n",
    "\n",
    "    performance_table = pd.concat(df_list, axis=1)\n",
    "    order = [algo_1, algo_2]\n",
    "    performance_table = performance_table.reindex(order, axis=1, level=1)\n",
    "    performance_table = performance_table.rename(columns=new_cols_dict)\n",
    "    performance_table = performance_table.rename(columns=env_name_dict)\n",
    "    performance_table = performance_table.rename_axis(index=\"$\\sigma$\", columns=[\"Env\", \"Algo\"])\n",
    "    return performance_table"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 52,
   "metadata": {},
   "outputs": [
    {
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr>\n",
       "      <th>Env</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Ant</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Half Cheetah</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Walker</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Hopper</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Algo</th>\n",
       "      <th>Simple</th>\n",
       "      <th>Oracle</th>\n",
       "      <th>Simple</th>\n",
       "      <th>Oracle</th>\n",
       "      <th>Simple</th>\n",
       "      <th>Oracle</th>\n",
       "      <th>Simple</th>\n",
       "      <th>Oracle</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>$\\sigma$</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0.1</th>\n",
       "      <td>$2164 \\pm 17$</td>\n",
       "      <td>$2148 \\pm 16$</td>\n",
       "      <td>$1633 \\pm 25$</td>\n",
       "      <td>$2203 \\pm 17$</td>\n",
       "      <td>$1909 \\pm 17$</td>\n",
       "      <td>$1780 \\pm 26$</td>\n",
       "      <td>$1807 \\pm 25$</td>\n",
       "      <td>$1859 \\pm 18$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>0.3</th>\n",
       "      <td>$1270 \\pm 20$</td>\n",
       "      <td>$1723 \\pm 18$</td>\n",
       "      <td>$1412 \\pm 22$</td>\n",
       "      <td>$1469 \\pm 24$</td>\n",
       "      <td>$691 \\pm 17$</td>\n",
       "      <td>$908 \\pm 23$</td>\n",
       "      <td>$1121 \\pm 18$</td>\n",
       "      <td>$1296 \\pm 26$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>0.5</th>\n",
       "      <td>$391 \\pm 14$</td>\n",
       "      <td>$974 \\pm 18$</td>\n",
       "      <td>$482 \\pm 19$</td>\n",
       "      <td>$668 \\pm 24$</td>\n",
       "      <td>$397 \\pm 14$</td>\n",
       "      <td>$625 \\pm 17$</td>\n",
       "      <td>$863 \\pm 19$</td>\n",
       "      <td>$919 \\pm 18$</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "Env                 Ant                  Half Cheetah                 \\\n",
       "Algo             Simple         Oracle         Simple         Oracle   \n",
       "$\\sigma$                                                               \n",
       "0.1       $2164 \\pm 17$  $2148 \\pm 16$  $1633 \\pm 25$  $2203 \\pm 17$   \n",
       "0.3       $1270 \\pm 20$  $1723 \\pm 18$  $1412 \\pm 22$  $1469 \\pm 24$   \n",
       "0.5        $391 \\pm 14$   $974 \\pm 18$   $482 \\pm 19$   $668 \\pm 24$   \n",
       "\n",
       "Env              Walker                        Hopper                 \n",
       "Algo             Simple         Oracle         Simple         Oracle  \n",
       "$\\sigma$                                                              \n",
       "0.1       $1909 \\pm 17$  $1780 \\pm 26$  $1807 \\pm 25$  $1859 \\pm 18$  \n",
       "0.3        $691 \\pm 17$   $908 \\pm 23$  $1121 \\pm 18$  $1296 \\pm 26$  \n",
       "0.5        $397 \\pm 14$   $625 \\pm 17$   $863 \\pm 19$   $919 \\pm 18$  "
      ]
     },
     "execution_count": 52,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Simple vs Oracle IID\n",
    "\n",
    "algo_comparison_table(summary_df_list, \"simple\", \"oracle\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 53,
   "metadata": {},
   "outputs": [
    {
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr>\n",
       "      <th>Env</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Ant</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Half Cheetah</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Walker</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Hopper</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Algo</th>\n",
       "      <th>RMA</th>\n",
       "      <th>Oracle</th>\n",
       "      <th>RMA</th>\n",
       "      <th>Oracle</th>\n",
       "      <th>RMA</th>\n",
       "      <th>Oracle</th>\n",
       "      <th>RMA</th>\n",
       "      <th>Oracle</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>$\\sigma$</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0.1</th>\n",
       "      <td>$2138 \\pm 16$</td>\n",
       "      <td>$2148 \\pm 16$</td>\n",
       "      <td>$2197 \\pm 16$</td>\n",
       "      <td>$2203 \\pm 17$</td>\n",
       "      <td>$1750 \\pm 28$</td>\n",
       "      <td>$1780 \\pm 26$</td>\n",
       "      <td>$1859 \\pm 19$</td>\n",
       "      <td>$1859 \\pm 18$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>0.3</th>\n",
       "      <td>$1700 \\pm 17$</td>\n",
       "      <td>$1723 \\pm 18$</td>\n",
       "      <td>$1402 \\pm 27$</td>\n",
       "      <td>$1469 \\pm 24$</td>\n",
       "      <td>$836 \\pm 23$</td>\n",
       "      <td>$908 \\pm 23$</td>\n",
       "      <td>$1267 \\pm 27$</td>\n",
       "      <td>$1296 \\pm 26$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>0.5</th>\n",
       "      <td>$966 \\pm 16$</td>\n",
       "      <td>$974 \\pm 18$</td>\n",
       "      <td>$595 \\pm 26$</td>\n",
       "      <td>$668 \\pm 24$</td>\n",
       "      <td>$579 \\pm 17$</td>\n",
       "      <td>$625 \\pm 17$</td>\n",
       "      <td>$730 \\pm 21$</td>\n",
       "      <td>$919 \\pm 18$</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "Env                 Ant                  Half Cheetah                 \\\n",
       "Algo                RMA         Oracle            RMA         Oracle   \n",
       "$\\sigma$                                                               \n",
       "0.1       $2138 \\pm 16$  $2148 \\pm 16$  $2197 \\pm 16$  $2203 \\pm 17$   \n",
       "0.3       $1700 \\pm 17$  $1723 \\pm 18$  $1402 \\pm 27$  $1469 \\pm 24$   \n",
       "0.5        $966 \\pm 16$   $974 \\pm 18$   $595 \\pm 26$   $668 \\pm 24$   \n",
       "\n",
       "Env              Walker                        Hopper                 \n",
       "Algo                RMA         Oracle            RMA         Oracle  \n",
       "$\\sigma$                                                              \n",
       "0.1       $1750 \\pm 28$  $1780 \\pm 26$  $1859 \\pm 19$  $1859 \\pm 18$  \n",
       "0.3        $836 \\pm 23$   $908 \\pm 23$  $1267 \\pm 27$  $1296 \\pm 26$  \n",
       "0.5        $579 \\pm 17$   $625 \\pm 17$   $730 \\pm 21$   $919 \\pm 18$  "
      ]
     },
     "execution_count": 53,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# RMA vs oracle IID\n",
    "algo_comparison_table(summary_df_list, \"adapted\", \"oracle\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 54,
   "metadata": {},
   "outputs": [
    {
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr>\n",
       "      <th>Env</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Ant</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Half Cheetah</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Walker</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Hopper</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Algo</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>TCN</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>TCN</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>TCN</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>TCN</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>$\\sigma$</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0.1</th>\n",
       "      <td>$2240 \\pm 11$</td>\n",
       "      <td>$932 \\pm 45$</td>\n",
       "      <td>$2261 \\pm 11$</td>\n",
       "      <td>$2278 \\pm 10$</td>\n",
       "      <td>$1229 \\pm 24$</td>\n",
       "      <td>$1060 \\pm 42$</td>\n",
       "      <td>$1842 \\pm 18$</td>\n",
       "      <td>$1762 \\pm 16$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>0.3</th>\n",
       "      <td>$1623 \\pm 19$</td>\n",
       "      <td>$251 \\pm 11$</td>\n",
       "      <td>$1577 \\pm 22$</td>\n",
       "      <td>$1540 \\pm 20$</td>\n",
       "      <td>$893 \\pm 11$</td>\n",
       "      <td>$518 \\pm 19$</td>\n",
       "      <td>$1316 \\pm 24$</td>\n",
       "      <td>$1368 \\pm 20$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>0.5</th>\n",
       "      <td>$960 \\pm 14$</td>\n",
       "      <td>$481 \\pm 20$</td>\n",
       "      <td>$669 \\pm 23$</td>\n",
       "      <td>$553 \\pm 27$</td>\n",
       "      <td>$743 \\pm 15$</td>\n",
       "      <td>$584 \\pm 18$</td>\n",
       "      <td>$953 \\pm 15$</td>\n",
       "      <td>$1017 \\pm 18$</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "Env                 Ant                 Half Cheetah                 \\\n",
       "Algo               DMAP           TCN           DMAP            TCN   \n",
       "$\\sigma$                                                              \n",
       "0.1       $2240 \\pm 11$  $932 \\pm 45$  $2261 \\pm 11$  $2278 \\pm 10$   \n",
       "0.3       $1623 \\pm 19$  $251 \\pm 11$  $1577 \\pm 22$  $1540 \\pm 20$   \n",
       "0.5        $960 \\pm 14$  $481 \\pm 20$   $669 \\pm 23$   $553 \\pm 27$   \n",
       "\n",
       "Env              Walker                        Hopper                 \n",
       "Algo               DMAP            TCN           DMAP            TCN  \n",
       "$\\sigma$                                                              \n",
       "0.1       $1229 \\pm 24$  $1060 \\pm 42$  $1842 \\pm 18$  $1762 \\pm 16$  \n",
       "0.3        $893 \\pm 11$   $518 \\pm 19$  $1316 \\pm 24$  $1368 \\pm 20$  \n",
       "0.5        $743 \\pm 15$   $584 \\pm 18$   $953 \\pm 15$  $1017 \\pm 18$  "
      ]
     },
     "execution_count": 54,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# TCN vs DMAP IID\n",
    "algo_comparison_table(summary_df_list, \"attention\", \"convnet\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 55,
   "metadata": {},
   "outputs": [
    {
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr>\n",
       "      <th>Env</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Ant</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Half Cheetah</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Walker</th>\n",
       "      <th colspan=\"2\" halign=\"left\">Hopper</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Algo</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>DMAP-ne</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>DMAP-ne</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>DMAP-ne</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>DMAP-ne</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>$\\sigma$</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0.1</th>\n",
       "      <td>$2240 \\pm 11$</td>\n",
       "      <td>$1966 \\pm 18$</td>\n",
       "      <td>$2261 \\pm 11$</td>\n",
       "      <td>$1493 \\pm 15$</td>\n",
       "      <td>$1229 \\pm 24$</td>\n",
       "      <td>$337 \\pm 16$</td>\n",
       "      <td>$1842 \\pm 18$</td>\n",
       "      <td>$984 \\pm 33$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>0.3</th>\n",
       "      <td>$1623 \\pm 19$</td>\n",
       "      <td>$1542 \\pm 19$</td>\n",
       "      <td>$1577 \\pm 22$</td>\n",
       "      <td>$1132 \\pm 29$</td>\n",
       "      <td>$893 \\pm 11$</td>\n",
       "      <td>$470 \\pm 16$</td>\n",
       "      <td>$1316 \\pm 24$</td>\n",
       "      <td>$748 \\pm 23$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>0.5</th>\n",
       "      <td>$960 \\pm 14$</td>\n",
       "      <td>$881 \\pm 12$</td>\n",
       "      <td>$669 \\pm 23$</td>\n",
       "      <td>$507 \\pm 29$</td>\n",
       "      <td>$743 \\pm 15$</td>\n",
       "      <td>$341 \\pm 17$</td>\n",
       "      <td>$953 \\pm 15$</td>\n",
       "      <td>$482 \\pm 20$</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "Env                 Ant                  Half Cheetah                 \\\n",
       "Algo               DMAP        DMAP-ne           DMAP        DMAP-ne   \n",
       "$\\sigma$                                                               \n",
       "0.1       $2240 \\pm 11$  $1966 \\pm 18$  $2261 \\pm 11$  $1493 \\pm 15$   \n",
       "0.3       $1623 \\pm 19$  $1542 \\pm 19$  $1577 \\pm 22$  $1132 \\pm 29$   \n",
       "0.5        $960 \\pm 14$   $881 \\pm 12$   $669 \\pm 23$   $507 \\pm 29$   \n",
       "\n",
       "Env              Walker                       Hopper                \n",
       "Algo               DMAP       DMAP-ne           DMAP       DMAP-ne  \n",
       "$\\sigma$                                                            \n",
       "0.1       $1229 \\pm 24$  $337 \\pm 16$  $1842 \\pm 18$  $984 \\pm 33$  \n",
       "0.3        $893 \\pm 11$  $470 \\pm 16$  $1316 \\pm 24$  $748 \\pm 23$  \n",
       "0.5        $743 \\pm 15$  $341 \\pm 17$   $953 \\pm 15$  $482 \\pm 20$  "
      ]
     },
     "execution_count": 55,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# DMAP vs DMAP-ne\n",
    "algo_comparison_table(summary_df_list, \"attention\", \"attention_no_encoding\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 56,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "<div>\n",
       "<style scoped>\n",
       "    .dataframe tbody tr th:only-of-type {\n",
       "        vertical-align: middle;\n",
       "    }\n",
       "\n",
       "    .dataframe tbody tr th {\n",
       "        vertical-align: top;\n",
       "    }\n",
       "\n",
       "    .dataframe thead th {\n",
       "        text-align: right;\n",
       "    }\n",
       "</style>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th>Algorithm</th>\n",
       "      <th>RMA</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>DMAP-ne</th>\n",
       "      <th>TCN</th>\n",
       "      <th>Oracle</th>\n",
       "      <th>Simple</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>$\\sigma$</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.1$</th>\n",
       "      <td>$2138 \\pm 16$</td>\n",
       "      <td>$2240 \\pm 11$</td>\n",
       "      <td>$1966 \\pm 18$</td>\n",
       "      <td>$932 \\pm 45$</td>\n",
       "      <td>$2148 \\pm 16$</td>\n",
       "      <td>$2164 \\pm 17$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.3$</th>\n",
       "      <td>$1700 \\pm 17$</td>\n",
       "      <td>$1623 \\pm 19$</td>\n",
       "      <td>$1542 \\pm 19$</td>\n",
       "      <td>$251 \\pm 11$</td>\n",
       "      <td>$1723 \\pm 18$</td>\n",
       "      <td>$1270 \\pm 20$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.5$</th>\n",
       "      <td>$966 \\pm 16$</td>\n",
       "      <td>$960 \\pm 14$</td>\n",
       "      <td>$881 \\pm 12$</td>\n",
       "      <td>$481 \\pm 20$</td>\n",
       "      <td>$974 \\pm 18$</td>\n",
       "      <td>$391 \\pm 14$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.1$</th>\n",
       "      <td>$2197 \\pm 16$</td>\n",
       "      <td>$2261 \\pm 11$</td>\n",
       "      <td>$1493 \\pm 15$</td>\n",
       "      <td>$2278 \\pm 10$</td>\n",
       "      <td>$2203 \\pm 17$</td>\n",
       "      <td>$1633 \\pm 25$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.3$</th>\n",
       "      <td>$1402 \\pm 27$</td>\n",
       "      <td>$1577 \\pm 22$</td>\n",
       "      <td>$1132 \\pm 29$</td>\n",
       "      <td>$1540 \\pm 20$</td>\n",
       "      <td>$1469 \\pm 24$</td>\n",
       "      <td>$1412 \\pm 22$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.5$</th>\n",
       "      <td>$595 \\pm 26$</td>\n",
       "      <td>$669 \\pm 23$</td>\n",
       "      <td>$507 \\pm 29$</td>\n",
       "      <td>$553 \\pm 27$</td>\n",
       "      <td>$668 \\pm 24$</td>\n",
       "      <td>$482 \\pm 19$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.1$</th>\n",
       "      <td>$1750 \\pm 28$</td>\n",
       "      <td>$1229 \\pm 24$</td>\n",
       "      <td>$337 \\pm 16$</td>\n",
       "      <td>$1060 \\pm 42$</td>\n",
       "      <td>$1780 \\pm 26$</td>\n",
       "      <td>$1909 \\pm 17$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.3$</th>\n",
       "      <td>$836 \\pm 23$</td>\n",
       "      <td>$893 \\pm 11$</td>\n",
       "      <td>$470 \\pm 16$</td>\n",
       "      <td>$518 \\pm 19$</td>\n",
       "      <td>$908 \\pm 23$</td>\n",
       "      <td>$691 \\pm 17$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.5$</th>\n",
       "      <td>$579 \\pm 17$</td>\n",
       "      <td>$743 \\pm 15$</td>\n",
       "      <td>$341 \\pm 17$</td>\n",
       "      <td>$584 \\pm 18$</td>\n",
       "      <td>$625 \\pm 17$</td>\n",
       "      <td>$397 \\pm 14$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.1$</th>\n",
       "      <td>$1859 \\pm 19$</td>\n",
       "      <td>$1842 \\pm 18$</td>\n",
       "      <td>$984 \\pm 33$</td>\n",
       "      <td>$1762 \\pm 16$</td>\n",
       "      <td>$1859 \\pm 18$</td>\n",
       "      <td>$1807 \\pm 25$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.3$</th>\n",
       "      <td>$1267 \\pm 27$</td>\n",
       "      <td>$1316 \\pm 24$</td>\n",
       "      <td>$748 \\pm 23$</td>\n",
       "      <td>$1368 \\pm 20$</td>\n",
       "      <td>$1296 \\pm 26$</td>\n",
       "      <td>$1121 \\pm 18$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.5$</th>\n",
       "      <td>$730 \\pm 21$</td>\n",
       "      <td>$953 \\pm 15$</td>\n",
       "      <td>$482 \\pm 20$</td>\n",
       "      <td>$1017 \\pm 18$</td>\n",
       "      <td>$919 \\pm 18$</td>\n",
       "      <td>$863 \\pm 19$</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "Algorithm                            RMA           DMAP        DMAP-ne  \\\n",
       "$\\sigma$                                                                 \n",
       "Ant $\\sigma=0.1$           $2138 \\pm 16$  $2240 \\pm 11$  $1966 \\pm 18$   \n",
       "Ant $\\sigma=0.3$           $1700 \\pm 17$  $1623 \\pm 19$  $1542 \\pm 19$   \n",
       "Ant $\\sigma=0.5$            $966 \\pm 16$   $960 \\pm 14$   $881 \\pm 12$   \n",
       "Half Cheetah $\\sigma=0.1$  $2197 \\pm 16$  $2261 \\pm 11$  $1493 \\pm 15$   \n",
       "Half Cheetah $\\sigma=0.3$  $1402 \\pm 27$  $1577 \\pm 22$  $1132 \\pm 29$   \n",
       "Half Cheetah $\\sigma=0.5$   $595 \\pm 26$   $669 \\pm 23$   $507 \\pm 29$   \n",
       "Walker $\\sigma=0.1$        $1750 \\pm 28$  $1229 \\pm 24$   $337 \\pm 16$   \n",
       "Walker $\\sigma=0.3$         $836 \\pm 23$   $893 \\pm 11$   $470 \\pm 16$   \n",
       "Walker $\\sigma=0.5$         $579 \\pm 17$   $743 \\pm 15$   $341 \\pm 17$   \n",
       "Hopper $\\sigma=0.1$        $1859 \\pm 19$  $1842 \\pm 18$   $984 \\pm 33$   \n",
       "Hopper $\\sigma=0.3$        $1267 \\pm 27$  $1316 \\pm 24$   $748 \\pm 23$   \n",
       "Hopper $\\sigma=0.5$         $730 \\pm 21$   $953 \\pm 15$   $482 \\pm 20$   \n",
       "\n",
       "Algorithm                            TCN         Oracle         Simple  \n",
       "$\\sigma$                                                                \n",
       "Ant $\\sigma=0.1$            $932 \\pm 45$  $2148 \\pm 16$  $2164 \\pm 17$  \n",
       "Ant $\\sigma=0.3$            $251 \\pm 11$  $1723 \\pm 18$  $1270 \\pm 20$  \n",
       "Ant $\\sigma=0.5$            $481 \\pm 20$   $974 \\pm 18$   $391 \\pm 14$  \n",
       "Half Cheetah $\\sigma=0.1$  $2278 \\pm 10$  $2203 \\pm 17$  $1633 \\pm 25$  \n",
       "Half Cheetah $\\sigma=0.3$  $1540 \\pm 20$  $1469 \\pm 24$  $1412 \\pm 22$  \n",
       "Half Cheetah $\\sigma=0.5$   $553 \\pm 27$   $668 \\pm 24$   $482 \\pm 19$  \n",
       "Walker $\\sigma=0.1$        $1060 \\pm 42$  $1780 \\pm 26$  $1909 \\pm 17$  \n",
       "Walker $\\sigma=0.3$         $518 \\pm 19$   $908 \\pm 23$   $691 \\pm 17$  \n",
       "Walker $\\sigma=0.5$         $584 \\pm 18$   $625 \\pm 17$   $397 \\pm 14$  \n",
       "Hopper $\\sigma=0.1$        $1762 \\pm 16$  $1859 \\pm 18$  $1807 \\pm 25$  \n",
       "Hopper $\\sigma=0.3$        $1368 \\pm 20$  $1296 \\pm 26$  $1121 \\pm 18$  \n",
       "Hopper $\\sigma=0.5$        $1017 \\pm 18$   $919 \\pm 18$   $863 \\pm 19$  "
      ]
     },
     "execution_count": 56,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# IID performance\n",
    "df_list = []\n",
    "for idx, env_name in enumerate(env_names):\n",
    "    df = summary_df_list[idx]\n",
    "    df = df[df.train_sigma == df.test_sigma].groupby([\"train_sigma\", \"algorithm\"],as_index=False).reward.agg([\"mean\", \"sem\"]).reset_index()\n",
    "    df[\"train_sigma\"] = df.train_sigma.apply(lambda x: \"_\".join((env_name, x)))\n",
    "    df = df.set_index(\"train_sigma\")\n",
    "    df[\"reward\"] = df.apply(lambda x: f\"${int(round(x['mean']))} \\pm {int(round(x['sem']))}$\", axis=1)\n",
    "    df = df.pivot_table(values='reward', index=df.index, columns='algorithm', aggfunc='first')\n",
    "    df_list.append(df)\n",
    "\n",
    "performance_table = pd.concat(df_list)\n",
    "performance_table = performance_table.rename(columns=new_cols_dict, index=index_rename)\n",
    "performance_table = performance_table.rename_axis(index=\"$\\sigma$\", columns=\"Algorithm\")\n",
    "performance_table"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 58,
   "metadata": {},
   "outputs": [],
   "source": [
    "# OOD performance\n",
    "performance_table_list = []\n",
    "for train_sigma in train_sigma_list:\n",
    "    df_list = []\n",
    "    for idx, env_name in enumerate(env_names):\n",
    "        df = summary_df_list[idx]\n",
    "        df = df[df.train_sigma == train_sigma].groupby([\"test_sigma\", \"algorithm\"],as_index=False).reward.agg([\"mean\", \"sem\"]).reset_index()\n",
    "        df[\"test_sigma\"] = df.test_sigma.apply(lambda x: \"_\".join((env_name, x)))\n",
    "        df[\"reward\"] = df.apply(lambda x: f\"${int(round(x['mean']))} \\pm {int(round(x['sem']))}$\", axis=1)\n",
    "        df = df.set_index(\"test_sigma\")\n",
    "        df = df.pivot_table(values='reward', index=df.index, columns='algorithm', aggfunc='first')\n",
    "        df_list.append(df)\n",
    "    performance_table = pd.concat(df_list)\n",
    "    performance_table = performance_table.rename(columns=new_cols_dict, index=index_rename)\n",
    "    performance_table = performance_table.rename_axis(index=\"$\\sigma$\", columns=\"Algorithm\")\n",
    "    performance_table_list.append(performance_table)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 59,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "OOD performance train sigma 0.1\n"
     ]
    },
    {
     "data": {
      "text/html": [
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       "    }\n",
       "\n",
       "    .dataframe thead th {\n",
       "        text-align: right;\n",
       "    }\n",
       "</style>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th>Algorithm</th>\n",
       "      <th>RMA</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>DMAP-ne</th>\n",
       "      <th>TCN</th>\n",
       "      <th>Oracle</th>\n",
       "      <th>Simple</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>$\\sigma$</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.1$</th>\n",
       "      <td>$2138 \\pm 16$</td>\n",
       "      <td>$2240 \\pm 11$</td>\n",
       "      <td>$1966 \\pm 18$</td>\n",
       "      <td>$932 \\pm 45$</td>\n",
       "      <td>$2148 \\pm 16$</td>\n",
       "      <td>$2164 \\pm 17$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.3$</th>\n",
       "      <td>$1124 \\pm 26$</td>\n",
       "      <td>$1105 \\pm 26$</td>\n",
       "      <td>$1004 \\pm 22$</td>\n",
       "      <td>$479 \\pm 26$</td>\n",
       "      <td>$1078 \\pm 27$</td>\n",
       "      <td>$1034 \\pm 28$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.5$</th>\n",
       "      <td>$604 \\pm 17$</td>\n",
       "      <td>$579 \\pm 18$</td>\n",
       "      <td>$536 \\pm 16$</td>\n",
       "      <td>$289 \\pm 15$</td>\n",
       "      <td>$598 \\pm 16$</td>\n",
       "      <td>$572 \\pm 19$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.7$</th>\n",
       "      <td>$145 \\pm 30$</td>\n",
       "      <td>$129 \\pm 30$</td>\n",
       "      <td>$139 \\pm 28$</td>\n",
       "      <td>$162 \\pm 16$</td>\n",
       "      <td>$154 \\pm 30$</td>\n",
       "      <td>$169 \\pm 26$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.1$</th>\n",
       "      <td>$2197 \\pm 16$</td>\n",
       "      <td>$2261 \\pm 11$</td>\n",
       "      <td>$1493 \\pm 15$</td>\n",
       "      <td>$2278 \\pm 10$</td>\n",
       "      <td>$2203 \\pm 17$</td>\n",
       "      <td>$1633 \\pm 25$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.3$</th>\n",
       "      <td>$1159 \\pm 38$</td>\n",
       "      <td>$1369 \\pm 38$</td>\n",
       "      <td>$877 \\pm 36$</td>\n",
       "      <td>$1426 \\pm 36$</td>\n",
       "      <td>$966 \\pm 43$</td>\n",
       "      <td>$825 \\pm 36$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.5$</th>\n",
       "      <td>$216 \\pm 49$</td>\n",
       "      <td>$374 \\pm 52$</td>\n",
       "      <td>$137 \\pm 46$</td>\n",
       "      <td>$475 \\pm 51$</td>\n",
       "      <td>$100 \\pm 48$</td>\n",
       "      <td>$208 \\pm 41$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.7$</th>\n",
       "      <td>$-307 \\pm 45$</td>\n",
       "      <td>$-142 \\pm 48$</td>\n",
       "      <td>$-205 \\pm 44$</td>\n",
       "      <td>$-147 \\pm 48$</td>\n",
       "      <td>$-375 \\pm 44$</td>\n",
       "      <td>$-225 \\pm 42$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.1$</th>\n",
       "      <td>$1750 \\pm 28$</td>\n",
       "      <td>$1229 \\pm 24$</td>\n",
       "      <td>$337 \\pm 16$</td>\n",
       "      <td>$1060 \\pm 42$</td>\n",
       "      <td>$1780 \\pm 26$</td>\n",
       "      <td>$1909 \\pm 17$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.3$</th>\n",
       "      <td>$877 \\pm 37$</td>\n",
       "      <td>$666 \\pm 25$</td>\n",
       "      <td>$283 \\pm 15$</td>\n",
       "      <td>$504 \\pm 31$</td>\n",
       "      <td>$622 \\pm 34$</td>\n",
       "      <td>$900 \\pm 37$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.5$</th>\n",
       "      <td>$318 \\pm 26$</td>\n",
       "      <td>$265 \\pm 19$</td>\n",
       "      <td>$153 \\pm 13$</td>\n",
       "      <td>$211 \\pm 20$</td>\n",
       "      <td>$226 \\pm 20$</td>\n",
       "      <td>$354 \\pm 27$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.7$</th>\n",
       "      <td>$165 \\pm 20$</td>\n",
       "      <td>$140 \\pm 15$</td>\n",
       "      <td>$114 \\pm 12$</td>\n",
       "      <td>$113 \\pm 14$</td>\n",
       "      <td>$106 \\pm 14$</td>\n",
       "      <td>$165 \\pm 19$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.1$</th>\n",
       "      <td>$1859 \\pm 19$</td>\n",
       "      <td>$1842 \\pm 18$</td>\n",
       "      <td>$984 \\pm 33$</td>\n",
       "      <td>$1762 \\pm 16$</td>\n",
       "      <td>$1859 \\pm 18$</td>\n",
       "      <td>$1807 \\pm 25$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.3$</th>\n",
       "      <td>$1044 \\pm 34$</td>\n",
       "      <td>$857 \\pm 33$</td>\n",
       "      <td>$536 \\pm 27$</td>\n",
       "      <td>$960 \\pm 36$</td>\n",
       "      <td>$947 \\pm 33$</td>\n",
       "      <td>$760 \\pm 35$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.5$</th>\n",
       "      <td>$356 \\pm 24$</td>\n",
       "      <td>$308 \\pm 23$</td>\n",
       "      <td>$216 \\pm 20$</td>\n",
       "      <td>$310 \\pm 29$</td>\n",
       "      <td>$417 \\pm 25$</td>\n",
       "      <td>$303 \\pm 22$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.7$</th>\n",
       "      <td>$217 \\pm 19$</td>\n",
       "      <td>$208 \\pm 19$</td>\n",
       "      <td>$160 \\pm 15$</td>\n",
       "      <td>$206 \\pm 24$</td>\n",
       "      <td>$219 \\pm 18$</td>\n",
       "      <td>$188 \\pm 18$</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "Algorithm                            RMA           DMAP        DMAP-ne  \\\n",
       "$\\sigma$                                                                 \n",
       "Ant $\\sigma=0.1$           $2138 \\pm 16$  $2240 \\pm 11$  $1966 \\pm 18$   \n",
       "Ant $\\sigma=0.3$           $1124 \\pm 26$  $1105 \\pm 26$  $1004 \\pm 22$   \n",
       "Ant $\\sigma=0.5$            $604 \\pm 17$   $579 \\pm 18$   $536 \\pm 16$   \n",
       "Ant $\\sigma=0.7$            $145 \\pm 30$   $129 \\pm 30$   $139 \\pm 28$   \n",
       "Half Cheetah $\\sigma=0.1$  $2197 \\pm 16$  $2261 \\pm 11$  $1493 \\pm 15$   \n",
       "Half Cheetah $\\sigma=0.3$  $1159 \\pm 38$  $1369 \\pm 38$   $877 \\pm 36$   \n",
       "Half Cheetah $\\sigma=0.5$   $216 \\pm 49$   $374 \\pm 52$   $137 \\pm 46$   \n",
       "Half Cheetah $\\sigma=0.7$  $-307 \\pm 45$  $-142 \\pm 48$  $-205 \\pm 44$   \n",
       "Walker $\\sigma=0.1$        $1750 \\pm 28$  $1229 \\pm 24$   $337 \\pm 16$   \n",
       "Walker $\\sigma=0.3$         $877 \\pm 37$   $666 \\pm 25$   $283 \\pm 15$   \n",
       "Walker $\\sigma=0.5$         $318 \\pm 26$   $265 \\pm 19$   $153 \\pm 13$   \n",
       "Walker $\\sigma=0.7$         $165 \\pm 20$   $140 \\pm 15$   $114 \\pm 12$   \n",
       "Hopper $\\sigma=0.1$        $1859 \\pm 19$  $1842 \\pm 18$   $984 \\pm 33$   \n",
       "Hopper $\\sigma=0.3$        $1044 \\pm 34$   $857 \\pm 33$   $536 \\pm 27$   \n",
       "Hopper $\\sigma=0.5$         $356 \\pm 24$   $308 \\pm 23$   $216 \\pm 20$   \n",
       "Hopper $\\sigma=0.7$         $217 \\pm 19$   $208 \\pm 19$   $160 \\pm 15$   \n",
       "\n",
       "Algorithm                            TCN         Oracle         Simple  \n",
       "$\\sigma$                                                                \n",
       "Ant $\\sigma=0.1$            $932 \\pm 45$  $2148 \\pm 16$  $2164 \\pm 17$  \n",
       "Ant $\\sigma=0.3$            $479 \\pm 26$  $1078 \\pm 27$  $1034 \\pm 28$  \n",
       "Ant $\\sigma=0.5$            $289 \\pm 15$   $598 \\pm 16$   $572 \\pm 19$  \n",
       "Ant $\\sigma=0.7$            $162 \\pm 16$   $154 \\pm 30$   $169 \\pm 26$  \n",
       "Half Cheetah $\\sigma=0.1$  $2278 \\pm 10$  $2203 \\pm 17$  $1633 \\pm 25$  \n",
       "Half Cheetah $\\sigma=0.3$  $1426 \\pm 36$   $966 \\pm 43$   $825 \\pm 36$  \n",
       "Half Cheetah $\\sigma=0.5$   $475 \\pm 51$   $100 \\pm 48$   $208 \\pm 41$  \n",
       "Half Cheetah $\\sigma=0.7$  $-147 \\pm 48$  $-375 \\pm 44$  $-225 \\pm 42$  \n",
       "Walker $\\sigma=0.1$        $1060 \\pm 42$  $1780 \\pm 26$  $1909 \\pm 17$  \n",
       "Walker $\\sigma=0.3$         $504 \\pm 31$   $622 \\pm 34$   $900 \\pm 37$  \n",
       "Walker $\\sigma=0.5$         $211 \\pm 20$   $226 \\pm 20$   $354 \\pm 27$  \n",
       "Walker $\\sigma=0.7$         $113 \\pm 14$   $106 \\pm 14$   $165 \\pm 19$  \n",
       "Hopper $\\sigma=0.1$        $1762 \\pm 16$  $1859 \\pm 18$  $1807 \\pm 25$  \n",
       "Hopper $\\sigma=0.3$         $960 \\pm 36$   $947 \\pm 33$   $760 \\pm 35$  \n",
       "Hopper $\\sigma=0.5$         $310 \\pm 29$   $417 \\pm 25$   $303 \\pm 22$  \n",
       "Hopper $\\sigma=0.7$         $206 \\pm 24$   $219 \\pm 18$   $188 \\pm 18$  "
      ]
     },
     "execution_count": 59,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "print(\"OOD performance train sigma 0.1\")\n",
    "performance_table_list[0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 60,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "OOD performance train sigma 0.3\n"
     ]
    },
    {
     "data": {
      "text/html": [
       "<div>\n",
       "<style scoped>\n",
       "    .dataframe tbody tr th:only-of-type {\n",
       "        vertical-align: middle;\n",
       "    }\n",
       "\n",
       "    .dataframe tbody tr th {\n",
       "        vertical-align: top;\n",
       "    }\n",
       "\n",
       "    .dataframe thead th {\n",
       "        text-align: right;\n",
       "    }\n",
       "</style>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th>Algorithm</th>\n",
       "      <th>RMA</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>DMAP-ne</th>\n",
       "      <th>TCN</th>\n",
       "      <th>Oracle</th>\n",
       "      <th>Simple</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>$\\sigma$</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.1$</th>\n",
       "      <td>$2103 \\pm 6$</td>\n",
       "      <td>$2051 \\pm 7$</td>\n",
       "      <td>$2015 \\pm 6$</td>\n",
       "      <td>$238 \\pm 12$</td>\n",
       "      <td>$2124 \\pm 5$</td>\n",
       "      <td>$1671 \\pm 20$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.3$</th>\n",
       "      <td>$1700 \\pm 17$</td>\n",
       "      <td>$1623 \\pm 19$</td>\n",
       "      <td>$1542 \\pm 19$</td>\n",
       "      <td>$251 \\pm 11$</td>\n",
       "      <td>$1723 \\pm 18$</td>\n",
       "      <td>$1270 \\pm 20$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.5$</th>\n",
       "      <td>$924 \\pm 22$</td>\n",
       "      <td>$856 \\pm 22$</td>\n",
       "      <td>$833 \\pm 20$</td>\n",
       "      <td>$227 \\pm 9$</td>\n",
       "      <td>$900 \\pm 24$</td>\n",
       "      <td>$796 \\pm 18$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.7$</th>\n",
       "      <td>$306 \\pm 32$</td>\n",
       "      <td>$228 \\pm 33$</td>\n",
       "      <td>$230 \\pm 32$</td>\n",
       "      <td>$185 \\pm 12$</td>\n",
       "      <td>$261 \\pm 30$</td>\n",
       "      <td>$283 \\pm 28$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.1$</th>\n",
       "      <td>$1795 \\pm 11$</td>\n",
       "      <td>$1900 \\pm 9$</td>\n",
       "      <td>$1578 \\pm 15$</td>\n",
       "      <td>$1719 \\pm 8$</td>\n",
       "      <td>$1824 \\pm 9$</td>\n",
       "      <td>$1704 \\pm 11$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.3$</th>\n",
       "      <td>$1402 \\pm 27$</td>\n",
       "      <td>$1577 \\pm 22$</td>\n",
       "      <td>$1132 \\pm 29$</td>\n",
       "      <td>$1540 \\pm 20$</td>\n",
       "      <td>$1469 \\pm 24$</td>\n",
       "      <td>$1412 \\pm 22$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.5$</th>\n",
       "      <td>$822 \\pm 42$</td>\n",
       "      <td>$1033 \\pm 38$</td>\n",
       "      <td>$552 \\pm 42$</td>\n",
       "      <td>$1117 \\pm 35$</td>\n",
       "      <td>$892 \\pm 43$</td>\n",
       "      <td>$787 \\pm 40$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.7$</th>\n",
       "      <td>$350 \\pm 48$</td>\n",
       "      <td>$453 \\pm 47$</td>\n",
       "      <td>$151 \\pm 45$</td>\n",
       "      <td>$462 \\pm 45$</td>\n",
       "      <td>$250 \\pm 50$</td>\n",
       "      <td>$267 \\pm 45$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.1$</th>\n",
       "      <td>$906 \\pm 22$</td>\n",
       "      <td>$943 \\pm 9$</td>\n",
       "      <td>$482 \\pm 15$</td>\n",
       "      <td>$574 \\pm 19$</td>\n",
       "      <td>$1028 \\pm 21$</td>\n",
       "      <td>$846 \\pm 12$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.3$</th>\n",
       "      <td>$836 \\pm 23$</td>\n",
       "      <td>$893 \\pm 11$</td>\n",
       "      <td>$470 \\pm 16$</td>\n",
       "      <td>$518 \\pm 19$</td>\n",
       "      <td>$908 \\pm 23$</td>\n",
       "      <td>$691 \\pm 17$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.5$</th>\n",
       "      <td>$487 \\pm 23$</td>\n",
       "      <td>$518 \\pm 20$</td>\n",
       "      <td>$239 \\pm 14$</td>\n",
       "      <td>$342 \\pm 18$</td>\n",
       "      <td>$491 \\pm 24$</td>\n",
       "      <td>$388 \\pm 18$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.7$</th>\n",
       "      <td>$248 \\pm 18$</td>\n",
       "      <td>$289 \\pm 19$</td>\n",
       "      <td>$171 \\pm 14$</td>\n",
       "      <td>$219 \\pm 16$</td>\n",
       "      <td>$267 \\pm 19$</td>\n",
       "      <td>$221 \\pm 16$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.1$</th>\n",
       "      <td>$1683 \\pm 16$</td>\n",
       "      <td>$1676 \\pm 14$</td>\n",
       "      <td>$729 \\pm 25$</td>\n",
       "      <td>$1591 \\pm 12$</td>\n",
       "      <td>$1618 \\pm 16$</td>\n",
       "      <td>$1351 \\pm 9$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.3$</th>\n",
       "      <td>$1267 \\pm 27$</td>\n",
       "      <td>$1316 \\pm 24$</td>\n",
       "      <td>$748 \\pm 23$</td>\n",
       "      <td>$1368 \\pm 20$</td>\n",
       "      <td>$1296 \\pm 26$</td>\n",
       "      <td>$1121 \\pm 18$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.5$</th>\n",
       "      <td>$532 \\pm 28$</td>\n",
       "      <td>$729 \\pm 30$</td>\n",
       "      <td>$456 \\pm 23$</td>\n",
       "      <td>$672 \\pm 29$</td>\n",
       "      <td>$666 \\pm 29$</td>\n",
       "      <td>$562 \\pm 23$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.7$</th>\n",
       "      <td>$329 \\pm 24$</td>\n",
       "      <td>$443 \\pm 27$</td>\n",
       "      <td>$334 \\pm 21$</td>\n",
       "      <td>$382 \\pm 26$</td>\n",
       "      <td>$371 \\pm 26$</td>\n",
       "      <td>$342 \\pm 21$</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "Algorithm                            RMA           DMAP        DMAP-ne  \\\n",
       "$\\sigma$                                                                 \n",
       "Ant $\\sigma=0.1$            $2103 \\pm 6$   $2051 \\pm 7$   $2015 \\pm 6$   \n",
       "Ant $\\sigma=0.3$           $1700 \\pm 17$  $1623 \\pm 19$  $1542 \\pm 19$   \n",
       "Ant $\\sigma=0.5$            $924 \\pm 22$   $856 \\pm 22$   $833 \\pm 20$   \n",
       "Ant $\\sigma=0.7$            $306 \\pm 32$   $228 \\pm 33$   $230 \\pm 32$   \n",
       "Half Cheetah $\\sigma=0.1$  $1795 \\pm 11$   $1900 \\pm 9$  $1578 \\pm 15$   \n",
       "Half Cheetah $\\sigma=0.3$  $1402 \\pm 27$  $1577 \\pm 22$  $1132 \\pm 29$   \n",
       "Half Cheetah $\\sigma=0.5$   $822 \\pm 42$  $1033 \\pm 38$   $552 \\pm 42$   \n",
       "Half Cheetah $\\sigma=0.7$   $350 \\pm 48$   $453 \\pm 47$   $151 \\pm 45$   \n",
       "Walker $\\sigma=0.1$         $906 \\pm 22$    $943 \\pm 9$   $482 \\pm 15$   \n",
       "Walker $\\sigma=0.3$         $836 \\pm 23$   $893 \\pm 11$   $470 \\pm 16$   \n",
       "Walker $\\sigma=0.5$         $487 \\pm 23$   $518 \\pm 20$   $239 \\pm 14$   \n",
       "Walker $\\sigma=0.7$         $248 \\pm 18$   $289 \\pm 19$   $171 \\pm 14$   \n",
       "Hopper $\\sigma=0.1$        $1683 \\pm 16$  $1676 \\pm 14$   $729 \\pm 25$   \n",
       "Hopper $\\sigma=0.3$        $1267 \\pm 27$  $1316 \\pm 24$   $748 \\pm 23$   \n",
       "Hopper $\\sigma=0.5$         $532 \\pm 28$   $729 \\pm 30$   $456 \\pm 23$   \n",
       "Hopper $\\sigma=0.7$         $329 \\pm 24$   $443 \\pm 27$   $334 \\pm 21$   \n",
       "\n",
       "Algorithm                            TCN         Oracle         Simple  \n",
       "$\\sigma$                                                                \n",
       "Ant $\\sigma=0.1$            $238 \\pm 12$   $2124 \\pm 5$  $1671 \\pm 20$  \n",
       "Ant $\\sigma=0.3$            $251 \\pm 11$  $1723 \\pm 18$  $1270 \\pm 20$  \n",
       "Ant $\\sigma=0.5$             $227 \\pm 9$   $900 \\pm 24$   $796 \\pm 18$  \n",
       "Ant $\\sigma=0.7$            $185 \\pm 12$   $261 \\pm 30$   $283 \\pm 28$  \n",
       "Half Cheetah $\\sigma=0.1$   $1719 \\pm 8$   $1824 \\pm 9$  $1704 \\pm 11$  \n",
       "Half Cheetah $\\sigma=0.3$  $1540 \\pm 20$  $1469 \\pm 24$  $1412 \\pm 22$  \n",
       "Half Cheetah $\\sigma=0.5$  $1117 \\pm 35$   $892 \\pm 43$   $787 \\pm 40$  \n",
       "Half Cheetah $\\sigma=0.7$   $462 \\pm 45$   $250 \\pm 50$   $267 \\pm 45$  \n",
       "Walker $\\sigma=0.1$         $574 \\pm 19$  $1028 \\pm 21$   $846 \\pm 12$  \n",
       "Walker $\\sigma=0.3$         $518 \\pm 19$   $908 \\pm 23$   $691 \\pm 17$  \n",
       "Walker $\\sigma=0.5$         $342 \\pm 18$   $491 \\pm 24$   $388 \\pm 18$  \n",
       "Walker $\\sigma=0.7$         $219 \\pm 16$   $267 \\pm 19$   $221 \\pm 16$  \n",
       "Hopper $\\sigma=0.1$        $1591 \\pm 12$  $1618 \\pm 16$   $1351 \\pm 9$  \n",
       "Hopper $\\sigma=0.3$        $1368 \\pm 20$  $1296 \\pm 26$  $1121 \\pm 18$  \n",
       "Hopper $\\sigma=0.5$         $672 \\pm 29$   $666 \\pm 29$   $562 \\pm 23$  \n",
       "Hopper $\\sigma=0.7$         $382 \\pm 26$   $371 \\pm 26$   $342 \\pm 21$  "
      ]
     },
     "execution_count": 60,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "print(\"OOD performance train sigma 0.3\")\n",
    "performance_table_list[1]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 61,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "OOD performance train sigma 0.5\n"
     ]
    },
    {
     "data": {
      "text/html": [
       "<div>\n",
       "<style scoped>\n",
       "    .dataframe tbody tr th:only-of-type {\n",
       "        vertical-align: middle;\n",
       "    }\n",
       "\n",
       "    .dataframe tbody tr th {\n",
       "        vertical-align: top;\n",
       "    }\n",
       "\n",
       "    .dataframe thead th {\n",
       "        text-align: right;\n",
       "    }\n",
       "</style>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th>Algorithm</th>\n",
       "      <th>RMA</th>\n",
       "      <th>DMAP</th>\n",
       "      <th>DMAP-ne</th>\n",
       "      <th>TCN</th>\n",
       "      <th>Oracle</th>\n",
       "      <th>Simple</th>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>$\\sigma$</th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "      <th></th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.1$</th>\n",
       "      <td>$1667 \\pm 5$</td>\n",
       "      <td>$1477 \\pm 5$</td>\n",
       "      <td>$1347 \\pm 7$</td>\n",
       "      <td>$692 \\pm 30$</td>\n",
       "      <td>$1665 \\pm 6$</td>\n",
       "      <td>$358 \\pm 13$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.3$</th>\n",
       "      <td>$1428 \\pm 11$</td>\n",
       "      <td>$1280 \\pm 11$</td>\n",
       "      <td>$1133 \\pm 11$</td>\n",
       "      <td>$620 \\pm 26$</td>\n",
       "      <td>$1454 \\pm 11$</td>\n",
       "      <td>$444 \\pm 14$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.5$</th>\n",
       "      <td>$966 \\pm 16$</td>\n",
       "      <td>$960 \\pm 14$</td>\n",
       "      <td>$881 \\pm 12$</td>\n",
       "      <td>$481 \\pm 20$</td>\n",
       "      <td>$974 \\pm 18$</td>\n",
       "      <td>$391 \\pm 14$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Ant $\\sigma=0.7$</th>\n",
       "      <td>$409 \\pm 27$</td>\n",
       "      <td>$504 \\pm 22$</td>\n",
       "      <td>$364 \\pm 31$</td>\n",
       "      <td>$273 \\pm 21$</td>\n",
       "      <td>$479 \\pm 21$</td>\n",
       "      <td>$236 \\pm 20$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.1$</th>\n",
       "      <td>$748 \\pm 23$</td>\n",
       "      <td>$816 \\pm 12$</td>\n",
       "      <td>$718 \\pm 18$</td>\n",
       "      <td>$466 \\pm 33$</td>\n",
       "      <td>$834 \\pm 17$</td>\n",
       "      <td>$601 \\pm 7$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.3$</th>\n",
       "      <td>$697 \\pm 23$</td>\n",
       "      <td>$788 \\pm 15$</td>\n",
       "      <td>$660 \\pm 22$</td>\n",
       "      <td>$603 \\pm 27$</td>\n",
       "      <td>$766 \\pm 21$</td>\n",
       "      <td>$585 \\pm 9$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.5$</th>\n",
       "      <td>$595 \\pm 26$</td>\n",
       "      <td>$669 \\pm 23$</td>\n",
       "      <td>$507 \\pm 29$</td>\n",
       "      <td>$553 \\pm 27$</td>\n",
       "      <td>$668 \\pm 24$</td>\n",
       "      <td>$482 \\pm 19$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Half Cheetah $\\sigma=0.7$</th>\n",
       "      <td>$399 \\pm 30$</td>\n",
       "      <td>$443 \\pm 30$</td>\n",
       "      <td>$303 \\pm 33$</td>\n",
       "      <td>$373 \\pm 31$</td>\n",
       "      <td>$364 \\pm 33$</td>\n",
       "      <td>$312 \\pm 27$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.1$</th>\n",
       "      <td>$746 \\pm 13$</td>\n",
       "      <td>$949 \\pm 7$</td>\n",
       "      <td>$533 \\pm 17$</td>\n",
       "      <td>$702 \\pm 16$</td>\n",
       "      <td>$783 \\pm 14$</td>\n",
       "      <td>$468 \\pm 12$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.3$</th>\n",
       "      <td>$722 \\pm 14$</td>\n",
       "      <td>$887 \\pm 11$</td>\n",
       "      <td>$490 \\pm 17$</td>\n",
       "      <td>$716 \\pm 16$</td>\n",
       "      <td>$787 \\pm 13$</td>\n",
       "      <td>$484 \\pm 13$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.5$</th>\n",
       "      <td>$579 \\pm 17$</td>\n",
       "      <td>$743 \\pm 15$</td>\n",
       "      <td>$341 \\pm 17$</td>\n",
       "      <td>$584 \\pm 18$</td>\n",
       "      <td>$625 \\pm 17$</td>\n",
       "      <td>$397 \\pm 14$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Walker $\\sigma=0.7$</th>\n",
       "      <td>$374 \\pm 17$</td>\n",
       "      <td>$504 \\pm 19$</td>\n",
       "      <td>$207 \\pm 15$</td>\n",
       "      <td>$418 \\pm 19$</td>\n",
       "      <td>$424 \\pm 18$</td>\n",
       "      <td>$318 \\pm 14$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.1$</th>\n",
       "      <td>$1169 \\pm 13$</td>\n",
       "      <td>$1109 \\pm 5$</td>\n",
       "      <td>$612 \\pm 19$</td>\n",
       "      <td>$1272 \\pm 8$</td>\n",
       "      <td>$1224 \\pm 13$</td>\n",
       "      <td>$1002 \\pm 7$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.3$</th>\n",
       "      <td>$961 \\pm 18$</td>\n",
       "      <td>$1102 \\pm 8$</td>\n",
       "      <td>$675 \\pm 19$</td>\n",
       "      <td>$1161 \\pm 14$</td>\n",
       "      <td>$1070 \\pm 16$</td>\n",
       "      <td>$1036 \\pm 12$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.5$</th>\n",
       "      <td>$730 \\pm 21$</td>\n",
       "      <td>$953 \\pm 15$</td>\n",
       "      <td>$482 \\pm 20$</td>\n",
       "      <td>$1017 \\pm 18$</td>\n",
       "      <td>$919 \\pm 18$</td>\n",
       "      <td>$863 \\pm 19$</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>Hopper $\\sigma=0.7$</th>\n",
       "      <td>$428 \\pm 21$</td>\n",
       "      <td>$591 \\pm 23$</td>\n",
       "      <td>$342 \\pm 19$</td>\n",
       "      <td>$643 \\pm 25$</td>\n",
       "      <td>$558 \\pm 22$</td>\n",
       "      <td>$576 \\pm 22$</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "Algorithm                            RMA           DMAP        DMAP-ne  \\\n",
       "$\\sigma$                                                                 \n",
       "Ant $\\sigma=0.1$            $1667 \\pm 5$   $1477 \\pm 5$   $1347 \\pm 7$   \n",
       "Ant $\\sigma=0.3$           $1428 \\pm 11$  $1280 \\pm 11$  $1133 \\pm 11$   \n",
       "Ant $\\sigma=0.5$            $966 \\pm 16$   $960 \\pm 14$   $881 \\pm 12$   \n",
       "Ant $\\sigma=0.7$            $409 \\pm 27$   $504 \\pm 22$   $364 \\pm 31$   \n",
       "Half Cheetah $\\sigma=0.1$   $748 \\pm 23$   $816 \\pm 12$   $718 \\pm 18$   \n",
       "Half Cheetah $\\sigma=0.3$   $697 \\pm 23$   $788 \\pm 15$   $660 \\pm 22$   \n",
       "Half Cheetah $\\sigma=0.5$   $595 \\pm 26$   $669 \\pm 23$   $507 \\pm 29$   \n",
       "Half Cheetah $\\sigma=0.7$   $399 \\pm 30$   $443 \\pm 30$   $303 \\pm 33$   \n",
       "Walker $\\sigma=0.1$         $746 \\pm 13$    $949 \\pm 7$   $533 \\pm 17$   \n",
       "Walker $\\sigma=0.3$         $722 \\pm 14$   $887 \\pm 11$   $490 \\pm 17$   \n",
       "Walker $\\sigma=0.5$         $579 \\pm 17$   $743 \\pm 15$   $341 \\pm 17$   \n",
       "Walker $\\sigma=0.7$         $374 \\pm 17$   $504 \\pm 19$   $207 \\pm 15$   \n",
       "Hopper $\\sigma=0.1$        $1169 \\pm 13$   $1109 \\pm 5$   $612 \\pm 19$   \n",
       "Hopper $\\sigma=0.3$         $961 \\pm 18$   $1102 \\pm 8$   $675 \\pm 19$   \n",
       "Hopper $\\sigma=0.5$         $730 \\pm 21$   $953 \\pm 15$   $482 \\pm 20$   \n",
       "Hopper $\\sigma=0.7$         $428 \\pm 21$   $591 \\pm 23$   $342 \\pm 19$   \n",
       "\n",
       "Algorithm                            TCN         Oracle         Simple  \n",
       "$\\sigma$                                                                \n",
       "Ant $\\sigma=0.1$            $692 \\pm 30$   $1665 \\pm 6$   $358 \\pm 13$  \n",
       "Ant $\\sigma=0.3$            $620 \\pm 26$  $1454 \\pm 11$   $444 \\pm 14$  \n",
       "Ant $\\sigma=0.5$            $481 \\pm 20$   $974 \\pm 18$   $391 \\pm 14$  \n",
       "Ant $\\sigma=0.7$            $273 \\pm 21$   $479 \\pm 21$   $236 \\pm 20$  \n",
       "Half Cheetah $\\sigma=0.1$   $466 \\pm 33$   $834 \\pm 17$    $601 \\pm 7$  \n",
       "Half Cheetah $\\sigma=0.3$   $603 \\pm 27$   $766 \\pm 21$    $585 \\pm 9$  \n",
       "Half Cheetah $\\sigma=0.5$   $553 \\pm 27$   $668 \\pm 24$   $482 \\pm 19$  \n",
       "Half Cheetah $\\sigma=0.7$   $373 \\pm 31$   $364 \\pm 33$   $312 \\pm 27$  \n",
       "Walker $\\sigma=0.1$         $702 \\pm 16$   $783 \\pm 14$   $468 \\pm 12$  \n",
       "Walker $\\sigma=0.3$         $716 \\pm 16$   $787 \\pm 13$   $484 \\pm 13$  \n",
       "Walker $\\sigma=0.5$         $584 \\pm 18$   $625 \\pm 17$   $397 \\pm 14$  \n",
       "Walker $\\sigma=0.7$         $418 \\pm 19$   $424 \\pm 18$   $318 \\pm 14$  \n",
       "Hopper $\\sigma=0.1$         $1272 \\pm 8$  $1224 \\pm 13$   $1002 \\pm 7$  \n",
       "Hopper $\\sigma=0.3$        $1161 \\pm 14$  $1070 \\pm 16$  $1036 \\pm 12$  \n",
       "Hopper $\\sigma=0.5$        $1017 \\pm 18$   $919 \\pm 18$   $863 \\pm 19$  \n",
       "Hopper $\\sigma=0.7$         $643 \\pm 25$   $558 \\pm 22$   $576 \\pm 22$  "
      ]
     },
     "execution_count": 61,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "print(\"OOD performance train sigma 0.5\")\n",
    "performance_table_list[2]"
   ]
  }
 ],
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