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Clip noise variance and update method names
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@itskalvik
itskalvik committed Sep 14, 2024
1 parent 5f96928 commit 961e0b3
Showing 1 changed file with 22 additions and 26 deletions.
48 changes: 22 additions & 26 deletions benchmarks/benchmark.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
import os
os.environ["TF_ENABLE_ONEDNN_OPTS"] = "0"
os.environ["QT_QPA_PLATFORM"] = "offscreen"

import json
import argparse
Expand Down Expand Up @@ -114,6 +115,7 @@ def run_aipp(X_train, ipp_model, Xu_init, path2data,
print_params=False,
optimizer='scipy',
method='CG')
noise_variance = np.clip(noise_variance.numpy(), 1e-4, 5.0)
elif param_method=='SSGP':
param_model.update((np.array(data_X_batch),
np.array(data_y_batch)))
Expand All @@ -128,9 +130,11 @@ def run_aipp(X_train, ipp_model, Xu_init, path2data,

if plot:
plt.figure()
plt.scatter(X_train[:, 0], X_train[:, 1])
plt.scatter(X_train[:, 0], X_train[:, 1], s=1)
for i in range(num_robots):
plt.scatter(X_new[:, 0], X_new[:, 1])
plt.scatter(np.array(data_X_batch)[:, 0],
np.array(data_X_batch)[:, 1])
plt.plot(curr_sol[i, :, 0], curr_sol[i, :, 1])
plt.savefig(f'{ipp_method}-{time_step}.png')
plt.close()

Expand Down Expand Up @@ -257,7 +261,6 @@ def main(dataset_path,
# ---------------------------------------------------------------------------------

for method in methods:
# Adaptive SGP
if method=='Adaptive-SGP':
ipp_sgpr, _ = continuous_sgp(num_waypoints,
X_train,
Expand All @@ -276,7 +279,6 @@ def main(dataset_path,

# ---------------------------------------------------------------------------------

# Adaptive CMA-ES
if method=='Adaptive-CMA-ES':
cma_es = CMA_ES(candidates,
noise_variance,
Expand All @@ -293,8 +295,7 @@ def main(dataset_path,

# ---------------------------------------------------------------------------------

# Online SGP
if method=='Online-SGP':
if method=='SGP':
start_time = time()
ipp_sgpr, _ = continuous_sgp(num_waypoints,
X_train,
Expand All @@ -321,8 +322,7 @@ def main(dataset_path,

# ---------------------------------------------------------------------------------

# Online Discrete SGP
if method=='Online-Discrete-SGP':
if method=='Discrete-SGP':
start_time = time()
ipp_sgpr, _ = continuous_sgp(num_waypoints,
X_train,
Expand Down Expand Up @@ -350,8 +350,7 @@ def main(dataset_path,

# ---------------------------------------------------------------------------------

# Online CMA-ES
if method=='Online-CMA-ES':
if method=='CMA-ES':
start_time = time()
cma_es = CMA_ES(candidates,
noise_variance_opt,
Expand All @@ -377,8 +376,7 @@ def main(dataset_path,

# ---------------------------------------------------------------------------------

# Online Bayesian Optimization
if method=='Online-BO':
if method=='BO':
start_time = time()
bo_model = BayesianOpt(candidates,
noise_variance_opt,
Expand All @@ -403,8 +401,7 @@ def main(dataset_path,

# ---------------------------------------------------------------------------------

# Online Greedy MI
if method=='Online-Greedy-MI':
if method=='Greedy-MI':
start_time = time()
solution = get_greedy_mi_sol(num_robots*num_waypoints,
candidates,
Expand All @@ -426,8 +423,7 @@ def main(dataset_path,

# ---------------------------------------------------------------------------------

# Online Greedy SGP
if method=='Online-Greedy-SGP':
if method=='Greedy-SGP':
start_time = time()
solution = get_greedy_sgp_sol(num_robots*num_waypoints,
candidates,
Expand Down Expand Up @@ -456,7 +452,7 @@ def main(dataset_path,
kernel_opt)
rmse = get_rmse(y_pred, y_test)

param_time = gp_time if 'Online' in method else param_time
param_time = gp_time if 'Adaptive' not in method else param_time
results[num_waypoints][method]['ParamTime'].append(param_time)
results[num_waypoints][method]['IPPTime'].append(ipp_time)
results[num_waypoints][method]['RMSE'].append(rmse)
Expand All @@ -473,7 +469,7 @@ def main(dataset_path,


if __name__=='__main__':
parser=argparse.ArgumentParser(description="Online/Adaptive SP/IPP benchmarking script")
parser=argparse.ArgumentParser(description="SP/IPP benchmarking script")
parser.add_argument("--num_mc", type=int, default=10)
parser.add_argument("--num_robots", type=int, default=1)
parser.add_argument("--sampling_rate", type=int, default=2)
Expand All @@ -483,22 +479,22 @@ def main(dataset_path,
args=parser.parse_args()

max_dist = 350 if args.num_robots==1 else 150
max_range = 81 if args.num_robots==1 and args.sampling_rate==2 else 51
max_range = 101 if args.num_robots==1 and args.sampling_rate==2 else 51
xrange = range(5, max_range, 5)

methods = ['Adaptive-SGP',
'Adaptive-CMA-ES',
'Online-SGP',
'Online-CMA-ES']
'SGP',
'CMA-ES']

if args.sampling_rate == 2 and \
args.num_robots == 1 and \
not args.distance_budget:
methods.append('Online-BO')
methods.append('Online-Greedy-MI')
methods.append('Online-Greedy-SGP')
methods.append('Online-Discrete-SGP')
methods.append('BO')
methods.append('Greedy-MI')
methods.append('Greedy-SGP')
methods.append('Discrete-SGP')

main(args.dataset_path,
args.num_mc,
args.num_robots,
Expand Down

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