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More tests

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This commit is contained in:
Dominik Moritz Roth 2023-05-04 15:39:38 +02:00
parent 77aa402dbc
commit cdea897a66
1 changed files with 34 additions and 5 deletions
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39
test.py
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@ -133,7 +133,7 @@ class Perlin_Noise():
class Perlin_PCA_Noise():
def __init__(self, dim_a=2, kernel_func='SE_1.41_1', window=64, ssf=-1, f_sigma=1):
def __init__(self, dim_a=2, kernel_func='SE_1.41_1.0', window=128, ssf=-1, f_sigma=1):
self.dim_a = dim_a
self.kernel_func = kernel_func
self.window = window
@ -162,7 +162,7 @@ class Perlin_PCA_Noise():
class PCA_Noise():
def __init__(self, dim_a=2, kernel_func='SE_1.41_1', window=64, ssf=-1, f_sigma=1):
def __init__(self, dim_a=2, kernel_func='SE_1.41_1.0', window=128, ssf=-1, f_sigma=1):
self.dim_a = dim_a
self.kernel_func = kernel_func
self.window = window
@ -187,6 +187,35 @@ class PCA_Noise():
self.traj = [[0]*self.dim_a]
class Human_PCA_Noise():
def __init__(self, dim_a=2, kernel_func='SE_1.414_1.0', window=128, ssf=-1, f_sigma=1):
self.dim_a = dim_a
self.kernel_func = kernel_func
self.window = window
self.ssf = ssf
self.f_sigma = f_sigma
self.index = 0
self.reset()
def __call__(self, obs, env):
if self.ssf != -1 and self.index % self.ssf == 0:
self.traj = [[0]*len(self.traj[0])]
traj = th.Tensor(self.traj).unsqueeze(0)
eps = human_input(obs, env)
epsilon = th.Tensor(eps).unsqueeze(0)
sample = self.dist.sample(traj, self.f_sigma, epsilon).squeeze(0)
self.traj.append(sample)
self.index += 1
return sample
def reset(self):
self.dist = pca.PCA_Distribution(
action_dim=self.dim_a, par_strength='CONT_DIAG', kernel_func=self.kernel_func, window=self.window)
self.dist.proba_distribution(th.Tensor([[0]*2]), th.Tensor([[1]*2]))
self.traj = [[0]*self.dim_a]
class Colored_PCA_Noise():
def __init__(self, beta=1, dim_a=2, samples=2**18, kernel_func='SE_1.41_1', window=64, ssf=-1):
self.beta = beta
@ -199,11 +228,11 @@ class Colored_PCA_Noise():
self.reset()
def __call__(self, obs, env):
epsilon = self.samples[:, self.index]
epsilon = th.Tensor(self.samples[:, self.index]).unsqueeze(0)
if self.ssf != -1 and self.index % self.ssf == 0:
self.traj = [[0]*len(self.traj[0])]
traj = th.Tensor(self.traj).unsqueeze(0)
sample = self.dist.sample(traj).squeeze(0)
sample = self.dist.sample(traj, epsilon=epsilon).squeeze(0)
self.traj.append(sample)
self.index += 1
return sample
@ -223,7 +252,7 @@ def rand_seed():
def choosePlayType():
options = {'human': human_input, 'PCA': PCA_Noise(),
'REX': Colored_Noise(beta=0), 'PINK': Colored_Noise(beta=1), 'BROWN': Colored_Noise(beta=2), 'BETA.5': Colored_Noise(beta=.5), 'PINK_PCA': Colored_PCA_Noise(beta=1), 'Precise_PCA': PCA_Noise(f_sigma=0.33), 'Perlin': Perlin_Noise(scale=0.05, octaves=1), 'FastPerlin': Perlin_Noise(scale=0.2, octaves=1), 'SlowPerlin': Perlin_Noise(scale=0.0125, octaves=1), 'Perlin_3': Perlin_Noise(scale=0.05, octaves=3), 'Perlin_8': Perlin_Noise(scale=0.05, octaves=8), 'Perlin_PCA': Perlin_PCA_Noise()}
'REX': Colored_Noise(beta=0), 'PINK': Colored_Noise(beta=1), 'BROWN': Colored_Noise(beta=2), 'BETA.5': Colored_Noise(beta=.5), 'PINK_PCA': Colored_PCA_Noise(beta=1), 'Precise_PCA': PCA_Noise(f_sigma=0.33), 'Perlin': Perlin_Noise(scale=0.05, octaves=1), 'FastPerlin': Perlin_Noise(scale=0.2, octaves=1), 'SlowPerlin': Perlin_Noise(scale=0.0125, octaves=1), 'Perlin_3': Perlin_Noise(scale=0.05, octaves=3), 'Perlin_8': Perlin_Noise(scale=0.05, octaves=8), 'Perlin_PCA': Perlin_PCA_Noise(), 'Human_PCA': Human_PCA_Noise()}
for i, name in enumerate(options):
print('['+str(i)+'] '+name)
while True: