Update plotting utility

itskalvik · Sep 12, 2024 · daad713 · daad713
1 parent 61f5c4f
commit daad713
Showing 1 changed file with 52 additions and 19 deletions.
diff --git a/benchmarks/plots.ipynb b/benchmarks/plots.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -21,8 +21,16 @@
     "num_robots = 4\n",
     "sampling_rate = 5\n",
     "dataset = 'bathymetry'\n",
+    "budget = True\n",
+    "\n",
+    "if budget:\n",
+    "    budget = '_B'\n",
+    "else:\n",
+    "    budget = ''\n",
     "\n",
-    "filename = f'../datasets/results/{dataset}_{num_robots}R_{sampling_rate}S.json'\n",
+    "remove_online = False\n",
+    "\n",
+    "filename = f'results/{dataset}_{num_robots}R_{sampling_rate}S{budget}.json'\n",
     "save_filename = filename[:-5] + '-{}.pdf'\n",
     "results = json.load(open(filename, 'r'))\n",
     "\n",
@@ -36,10 +44,9 @@
     "ipp_time_std = defaultdict(list)\n",
     "\n",
     "xrange = np.array(list(results.keys())).astype(int)\n",
+    "\n",
     "for num_sensors in results.keys():\n",
     "    for method in  results[num_sensors].keys():\n",
-    "        if 'Agg' in method:\n",
-    "            continue\n",
     "        for metric in results[num_sensors][method].keys():\n",
     "            if metric=='RMSE':\n",
     "                rmse[method].append(np.mean(results[num_sensors][method][metric]))\n",
@@ -57,41 +64,67 @@
     "                ipp_time[method].append(np.mean(data))\n",
     "                ipp_time_std[method].append(np.std(data))\n",
     "\n",
-    "colors = ['C2', 'C3', 'C0', 'C1', 'C4', 'C5']\n",
-    "datasets = ['intel', 'precipitation', 'soil', 'salinity']\n",
+    "colors = ['C2', 'C3', 'C0', 'C1', 'C4', 'C5', 'C6', 'C7', 'C8', 'C9']\n",
+    "methods = ['Adaptive-SGP', \n",
+    "           'Adaptive-CMA-ES', \n",
+    "           'Online-SGP', \n",
+    "           'Online-CMA-ES']\n",
+    "\n",
+    "if sampling_rate == 2 and num_robots == 1 and len(budget) == 0:\n",
+    "    methods.append('Online-BO')\n",
+    "    methods.append('Online-Greedy-MI')\n",
+    "    methods.append('Online-Greedy-SGP')\n",
+    "    methods.append('Online-Discrete-SGP')\n",
+    "\n",
+    "'''\n",
+    "# Discrete Online Methods\n",
+    "colors = ['C2', 'C3', 'C1']\n",
+    "methods = ['Online-Discrete-SGP',\n",
+    "           'Online-Greedy-MI', \n",
+    "           'Online-Greedy-SGP']\n",
+    "\n",
+    "# Continuous Online Methods\n",
+    "methods = ['Online-SGP', \n",
+    "           'Online-CMA-ES', \n",
+    "           'Online-BO']\n",
+    "'''\n",
     "\n",
     "plt.figure()\n",
-    "for i, key in enumerate(rmse.keys()):\n",
+    "for i, key in enumerate(methods):\n",
+    "    xrange_ = xrange[:len(rmse[key])]\n",
     "    label = key.strip().replace('Adaptive-SGP', 'Adaptive-SGP (Ours)')\n",
-    "    if 'CMA-ES' in key:\n",
-    "        label = key.replace('CMA-ES', 'CIPP')\n",
-    "    plt.plot(xrange, rmse[key], label=label, c=colors[i])\n",
-    "    plt.fill_between(xrange,\n",
+    "    label = label.replace('CMA-ES', 'CIPP')\n",
+    "    if remove_online:\n",
+    "        label = label.replace('Online-', '')\n",
+    "    plt.plot(xrange_, rmse[key], label=label, c=colors[i])\n",
+    "    plt.fill_between(xrange_,\n",
     "                     np.array(rmse[key])+rmse_std[key], \n",
     "                     np.array(rmse[key])-rmse_std[key], \n",
     "                     alpha=0.2,\n",
     "                     color=colors[i])\n",
-    "plt.legend()\n",
+    "plt.legend(loc='upper right')\n",
     "plt.xlabel(\"Number of Waypoints\")\n",
     "plt.ylabel(\"RMSE\")\n",
-    "plt.savefig(f'{dataset}_{num_robots}R_{sampling_rate}S-RMSE.pdf', bbox_inches='tight')\n",
+    "plt.savefig(f'{dataset}_{num_robots}R_{sampling_rate}S{budget}-RMSE.pdf', bbox_inches='tight')\n",
     "plt.show()\n",
     "\n",
     "plt.figure()\n",
-    "for i, key in enumerate(ipp_time.keys()):\n",
+    "for i, key in enumerate(methods):\n",
+    "    xrange_ = xrange[:len(ipp_time[key])]\n",
     "    label = key.strip().replace('Adaptive-SGP', 'Adaptive-SGP (Ours)')\n",
-    "    if 'CMA-ES' in key:\n",
-    "        label = key.replace('CMA-ES', 'CIPP')\n",
-    "    plt.plot(xrange, ipp_time[key], label=label, c=colors[i])\n",
-    "    plt.fill_between(xrange,\n",
+    "    label = label.replace('CMA-ES', 'CIPP')\n",
+    "    if remove_online:\n",
+    "        label = label.replace('Online-', '')\n",
+    "    plt.plot(xrange_, ipp_time[key], label=label, c=colors[i])\n",
+    "    plt.fill_between(xrange_,\n",
     "                     np.array(ipp_time[key])+ipp_time_std[key], \n",
     "                     np.array(ipp_time[key])-ipp_time_std[key], \n",
     "                     alpha=0.2,\n",
     "                     color=colors[i])\n",
     "plt.legend(loc='upper left')\n",
     "plt.xlabel(\"Number of Waypoints\")\n",
     "plt.ylabel(\"IPP Runtime (s)\")\n",
-    "plt.savefig(f'{dataset}_{num_robots}R_{sampling_rate}S-IPP.pdf', bbox_inches='tight')\n",
+    "plt.savefig(f'{dataset}_{num_robots}R_{sampling_rate}S{budget}-IPP.pdf', bbox_inches='tight')\n",
     "plt.show()"
    ]
   }