up

perceptualrobots · Aug 8, 2024 · 2a6cfca · 2a6cfca
1 parent 8ab163e
commit 2a6cfca
Show file tree

Hide file tree

Showing 9 changed files with 363 additions and 64 deletions.
diff --git a/nbs/01_putils.ipynb b/nbs/01_putils.ipynb
@@ -45,6 +45,13 @@
     "# warnings.filterwarnings(\"error\")"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# SingletonObjects"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -83,6 +90,13 @@
     "            self.objects[key]=value\n"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# UniqueNamer\n"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -149,6 +163,13 @@
     "                    print(\"*** \", name, namespace_list[name])"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# FunctionsList"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -270,6 +291,13 @@
     "            "
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Memory"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -310,6 +338,13 @@
     "\n"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# NumberStats"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -502,6 +537,13 @@
     "print(var)"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Counter"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -877,6 +919,13 @@
     "    return rtn\n"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# get_abs_tol"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -886,14 +935,21 @@
     "#| export\n",
     "def get_abs_tol(key):\n",
     "    # dic = {'evolve': 0.01, 'ARC-evolve' : 0.01, 'ARC-display': 0.01, 'ARC': 0.01}\n",
-    "    dic = { 'ARC-evolve' : 0.01, 'ARC-display': 0.1, 'ARC-change' : 0.01, 'ARC-zero': 0.01}\n",
+    "    dic = { 'ARC-evolve' : 0.01, 'ARC-display': 0.1, 'ARC-change' : 0.01, 'ARC-zero': 0.01, 'ARC-gradient': 0.005}\n",
     "\n",
     "    # if key in dic:\n",
     "    return dic[key]\n",
     "    \n",
     "    # return 0.001"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# get_rel_tol"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -1081,6 +1137,13 @@
     "\n"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# PCTRunProperties  "
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -1163,7 +1226,7 @@
     "        drive=filepath[0:index2+index1+1]\n",
     "\n",
     "        return drive, property_dir, file\n",
-    "        \n"
+    "        "
    ]
   },
   {
@@ -1198,13 +1261,6 @@
     "#| hide\n",
     "import nbdev; nbdev.nbdev_export()"
    ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
   }
  ],
  "metadata": {

diff --git a/nbs/04_hierarchy.ipynb b/nbs/04_hierarchy.ipynb
@@ -257,8 +257,12 @@
     "        return output\n",
     "    \n",
     "\n",
-    "    def is_environment_terminated(self):\n",
-    "        return self.get_environment().is_environment_terminated()\n",
+    "    def is_fitness_close_to_zero(self):\n",
+    "        return self.get_environment().is_fitness_close_to_zero()\n",
+    "\n",
+    "\n",
+    "    # def is_environment_terminated(self):\n",
+    "    #     return self.get_environment().is_environment_terminated()\n",
     "\n",
     "    def set_name(self, name):\n",
     "        self.name=name    \n",

diff --git a/nbs/05_environments.ipynb b/nbs/05_environments.ipynb
@@ -122,7 +122,10 @@
     "            \n",
     "        return out \n",
     "    \n",
-    "    def is_environment_terminated(self):\n",
+    "    # def is_environment_terminated(self):\n",
+    "    #     return False\n",
+    "    \n",
+    "    def is_fitness_close_to_zero(self):\n",
     "        return False\n",
     "    \n",
     "    def get_parameters_list(self):\n",
@@ -1642,7 +1645,16 @@
     "            self.done = self.env_done\n",
     "        else:\n",
     "            self.done, details = ListChecker.check_list_unchanged(self.boxcar, rel_tol =get_rel_tol('ARC-change'), abs_tol=get_abs_tol('ARC-change'))\n",
-    "            self.env.fitness_isclose_to_zero = ListChecker.check_float_list_close_to_zero(self.boxcar, rel_tol = 0, abs_tol=get_abs_tol('ARC-zero'))\n",
+    "            # self.env.fitness_isclose_to_zero = ListChecker.check_float_list_close_to_zero(self.boxcar, rel_tol = 0, abs_tol=get_abs_tol('ARC-zero'), gradient_abs_tol=get_abs_tol('ARC-gradient'))\n",
+    "            self.env.fitness_isclose_to_zero = self.is_fitness_close_to_zero()\n",
+    "\n",
+    "\n",
+    "            # self.env.fitness_isclose_to_zero, gradient_mean, gradient = ListChecker.check_float_list_close_to_zero(self.boxcar, rel_tol = 0, abs_tol=get_abs_tol('ARC-zero'))\n",
+    "            # if self.boxcar[0]<0.01 and self.boxcar[9]<0.01:\n",
+    "            #     print('fitness_isclose_to_zero', self.env.fitness_isclose_to_zero)\n",
+    "            #     print(self.boxcar)\n",
+    "            #     print('---> ', gradient_mean, gradient)\n",
+    "\n",
     "            if self.done:\n",
     "                if self.env.fitness_isclose_to_zero:\n",
     "                    pass\n",
@@ -1652,6 +1664,10 @@
     "                    # print('done', self.boxcar)\n",
     "        pass\n",
     "\n",
+    "    def is_fitness_close_to_zero(self):\n",
+    "        return ListChecker.check_float_list_close_to_zero(self.boxcar, rel_tol = 0, abs_tol=get_abs_tol('ARC-zero'), gradient_abs_tol=get_abs_tol('ARC-gradient'))\n",
+    "\n",
+    "\n",
     "    def get_fitness_list(self):\n",
     "        return self.env.fitness_list\n",
     "\n",
@@ -1715,7 +1731,7 @@
       "{'type': 'ARC', 'name': 'ARC', 'value': [9], 'links': {0: 'constant'}, 'env_name': 'ARC'}\n",
       "\n",
       "1.000 \n",
-      "9.000 0 False {'num_actions': 1, 'grid_shape': 'equal', 'dims': 1}\n",
+      "9.000 0 True {'num_actions': 1, 'grid_shape': 'equal', 'dims': 1}\n",
       "\n",
       "[9]\n"
      ]