Cleanup and new approach
This commit is contained in:
Johnny Fernandes
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# Stuff
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# Stuff
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#_example/
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#_example/
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.claude/
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# Python
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# Python
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__pycache__/
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__pycache__/
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@@ -0,0 +1,14 @@
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{
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"W_PER_SHEEP": 2.0,
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"W_ALIGN": 0.05,
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"W_PEN_BONUS": 10.0,
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"W_COMPLETE": 100.0,
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"W_STEP_COST": 0.02,
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"W_COMPACT": 0.0,
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"W_WALL_TOUCH": 0.15,
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"WALL_TOUCH_BUFFER": 0.8,
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"ALIGN_SHAPE": "standoff",
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"ALIGN_GATED": true,
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"ENTRY_AWARE": false,
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"ent_coef": 0.02
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}
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"""
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Episode-level diagnostics for the herding policy.
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Runs N episodes and for each one tracks:
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- flock radius over time
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- COM-to-pen distance over time
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- dog position over time
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- when (if ever) the flock first became compact
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- failure mode classification
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Then produces:
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1. Console summary of failure modes
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2. Per-episode time-series plots (radius + com_dist)
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3. Optional rendered playback of the worst episodes
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Usage
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-----
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python diagnose.py --model runs/ppo_consolidation/final_model.zip \
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--vecnorm runs/ppo_consolidation/vecnorm.pkl \
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--n-sheep 5 --episodes 20
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# Watch the policy live (first episode rendered):
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python diagnose.py ... --render
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# Save plots to a directory instead of showing interactively:
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python diagnose.py ... --plot-dir debug_plots/
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"""
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import argparse
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import os
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import numpy as np
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import matplotlib
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import matplotlib.pyplot as plt
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import matplotlib.patches as mpatches
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from stable_baselines3 import PPO
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from stable_baselines3.common.vec_env import DummyVecEnv, VecNormalize
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from herding_env import HerdingEnv
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# ── failure mode constants ────────────────────────────────────────────────────
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COMPACT_RADIUS = 5.0 # must match DRIVE_GATE_RADIUS in herding_env.py
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def classify_failure(ep_radius, ep_com_dist, n_penned, n_sheep, success):
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if success:
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return "SUCCESS"
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if min(ep_radius) > COMPACT_RADIUS:
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return "NEVER_COMPACT" # flock was always too scattered
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first_compact = next(i for i, r in enumerate(ep_radius) if r <= COMPACT_RADIUS)
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min_com_after = min(ep_com_dist[first_compact:])
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pen_close = 3.0 # COM within 3m of pen counts as "got close"
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if min_com_after > pen_close:
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return "COMPACT_CANT_DRIVE" # compacted but never drove to pen
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if n_penned == 0:
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return "DROVE_NO_SHEEP" # got near pen, nothing went in
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return f"PARTIAL_{n_penned}of{n_sheep}" # some in, not all
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# ── main ─────────────────────────────────────────────────────────────────────
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def parse_args():
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p = argparse.ArgumentParser()
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p.add_argument("--model", required=True)
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p.add_argument("--vecnorm", default=None)
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p.add_argument("--n-sheep", type=int, default=5)
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p.add_argument("--episodes", type=int, default=20)
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p.add_argument("--max-steps", type=int, default=4000)
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p.add_argument("--render", action="store_true",
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help="Show matplotlib animation of the first episode")
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p.add_argument("--plot-dir", default=None,
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help="Save time-series plots here (one per episode)")
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p.add_argument("--seed", type=int, default=0)
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return p.parse_args()
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def make_env(n_sheep, max_steps, render_mode=None):
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def _init():
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return HerdingEnv(n_sheep=n_sheep, max_steps=max_steps,
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render_mode=render_mode)
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return _init
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def main():
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args = parse_args()
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if args.plot_dir:
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os.makedirs(args.plot_dir, exist_ok=True)
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matplotlib.use("Agg")
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render_mode = "human" if args.render else None
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raw_env = DummyVecEnv([make_env(args.n_sheep, args.max_steps, render_mode)])
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if args.vecnorm:
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env = VecNormalize.load(args.vecnorm, raw_env)
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env.training = False
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env.norm_reward = False
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else:
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env = raw_env
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model = PPO.load(args.model, env=env)
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failure_counts = {}
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all_ep_data = []
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for ep in range(args.episodes):
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obs = env.reset()
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done = False
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step = 0
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ep_radius = []
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ep_com_dist = []
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ep_dog_x = []
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ep_dog_y = []
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ep_n_penned = []
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while not done:
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action, _ = model.predict(obs, deterministic=True)
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obs, _, dones, infos = env.step(action)
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done = dones[0]
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step += 1
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inner = env.envs[0] if hasattr(env, "envs") else env.venv.envs[0]
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com, radius, _ = inner._flock_stats()
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com_dist = float(np.linalg.norm(com - inner.PEN_CENTER))
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n_penned = int(inner.penned[:inner.n_sheep].sum())
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ep_radius.append(radius)
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ep_com_dist.append(com_dist)
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ep_dog_x.append(float(inner.dog_pos[0]))
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ep_dog_y.append(float(inner.dog_pos[1]))
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ep_n_penned.append(n_penned)
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info = infos[0]
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n_pen = info.get("n_penned", 0)
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n_sheep = info.get("n_sheep", args.n_sheep)
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success = n_pen == n_sheep
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mode = classify_failure(ep_radius, ep_com_dist, n_pen, n_sheep, success)
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failure_counts[mode] = failure_counts.get(mode, 0) + 1
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compact_step = next((i for i, r in enumerate(ep_radius)
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if r <= COMPACT_RADIUS), None)
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min_radius = min(ep_radius)
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min_com_dist = min(ep_com_dist)
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print(f" ep {ep+1:>3} steps={step:>5} penned={n_pen}/{n_sheep}"
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f" min_r={min_radius:.1f}m"
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f" min_com={min_com_dist:.1f}m"
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f" compact@step={compact_step if compact_step is not None else 'NEVER'}"
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f" [{mode}]")
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all_ep_data.append(dict(
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ep=ep, radius=ep_radius, com_dist=ep_com_dist,
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dog_x=ep_dog_x, dog_y=ep_dog_y, n_penned=ep_n_penned,
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steps=step, mode=mode, success=success,
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))
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# ── per-episode time-series plot ──────────────────────────────────
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if args.plot_dir or (not args.render and ep < 5):
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fig, axes = plt.subplots(2, 1, figsize=(10, 6), sharex=True)
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t = np.arange(len(ep_radius))
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axes[0].plot(t, ep_radius, color="steelblue", label="flock radius (m)")
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axes[0].axhline(COMPACT_RADIUS, color="orange", linestyle="--",
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label=f"compact threshold ({COMPACT_RADIUS}m)")
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if compact_step is not None:
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axes[0].axvline(compact_step, color="green", linestyle=":",
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alpha=0.6, label=f"first compact (step {compact_step})")
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axes[0].set_ylabel("radius (m)")
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axes[0].legend(fontsize=8)
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axes[0].set_title(f"ep {ep+1} | n_sheep={n_sheep} | {mode}")
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axes[1].plot(t, ep_com_dist, color="tomato", label="COM-to-pen dist (m)")
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axes[1].set_ylabel("COM-to-pen (m)")
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axes[1].set_xlabel("step")
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axes[1].legend(fontsize=8)
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plt.tight_layout()
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if args.plot_dir:
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fig.savefig(os.path.join(args.plot_dir, f"ep{ep+1:03d}_{mode}.png"),
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dpi=100)
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plt.close(fig)
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else:
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plt.show(block=False)
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plt.pause(0.5)
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env.close()
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# ── summary ──────────────────────────────────────────────────────────────
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print("\n" + "=" * 55)
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print(f" Model : {args.model}")
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print(f" n_sheep : {args.n_sheep} episodes : {args.episodes}")
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print("-" * 55)
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total = sum(failure_counts.values())
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for mode, cnt in sorted(failure_counts.items(), key=lambda x: -x[1]):
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bar = "█" * cnt
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print(f" {mode:<26} {cnt:>3}/{total} {bar}")
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print("-" * 55)
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never_compact = failure_counts.get("NEVER_COMPACT", 0)
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cant_drive = failure_counts.get("COMPACT_CANT_DRIVE", 0)
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partial = sum(v for k, v in failure_counts.items() if k.startswith("PARTIAL"))
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successes = failure_counts.get("SUCCESS", 0)
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print(f"\n Diagnosis:")
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if never_compact / total > 0.5:
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print(" ► COLLECT problem: dog rarely compacts the flock.")
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print(" → Phase-gate W_DRIVE, increase W_COLLECT, check alignment reward.")
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if cant_drive / total > 0.3:
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print(" ► DRIVE problem: flock compacts but doesn't reach pen.")
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print(" → Check dog alignment, pen direction, W_DRIVE magnitude.")
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if partial / total > 0.3:
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print(" ► PARTIAL problem: some sheep penned, stragglers remain.")
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print(" → Flock splits; need better straggler-chasing behavior.")
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if successes / total > 0.5:
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print(" ► Mostly working! Fine-tune for consistency.")
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print("=" * 55)
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if __name__ == "__main__":
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main()
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"""
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Load a saved run and evaluate the policy at every n_sheep from 1..N.
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Tells you exactly where the curriculum stopped working.
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Usage:
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python eval_per_sheep.py --run-dir runs/ppo_v3
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python eval_per_sheep.py --run-dir runs/ppo_v3 --max-sheep 10 --episodes 20
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python eval_per_sheep.py --model runs/ppo_v3/final_model.zip \
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--vecnorm runs/ppo_v3/vecnorm.pkl
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"""
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import argparse
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import os
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from copy import deepcopy
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import numpy as np
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from stable_baselines3 import PPO
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from stable_baselines3.common.vec_env import DummyVecEnv, VecNormalize
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from herding_env import HerdingEnv
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from train import _classify, COMPACT_RADIUS
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def evaluate(model, vn_template, n_sheep, n_episodes, max_steps):
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raw = DummyVecEnv([lambda: HerdingEnv(n_sheep=n_sheep, max_steps=max_steps)])
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vn = VecNormalize(raw, norm_obs=True, norm_reward=False, training=False)
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vn.obs_rms = deepcopy(vn_template.obs_rms)
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vn.ret_rms = deepcopy(vn_template.ret_rms)
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failure = {}
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successes = 0
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act_mags, min_radii, min_dog_com, min_pen = [], [], [], []
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for _ in range(n_episodes):
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obs = vn.reset()
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done = False
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ep_radius, ep_com_dist, ep_dog_com, ep_act = [], [], [], []
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while not done:
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action, _ = model.predict(obs, deterministic=True)
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obs, _, dones, infos = vn.step(action)
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done = dones[0]
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inner = vn.envs[0]
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com, radius, _ = inner._flock_stats()
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ep_radius.append(radius)
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ep_com_dist.append(float(np.linalg.norm(com - inner.PEN_CENTER)))
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ep_dog_com.append(float(np.linalg.norm(inner.dog_pos - com)))
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ep_act.append(float(np.linalg.norm(action[0])))
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npen = infos[0].get("n_penned", 0)
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success = npen == n_sheep
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successes += int(success)
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mode = _classify(ep_radius, ep_com_dist, npen, n_sheep, success)
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failure[mode] = failure.get(mode, 0) + 1
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act_mags.extend(ep_act)
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min_radii.append(min(ep_radius))
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min_dog_com.append(min(ep_dog_com))
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min_pen.append(min(ep_com_dist))
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vn.close()
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return {
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"n_sheep": n_sheep,
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"success_rate": successes / n_episodes,
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"failure": failure,
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"mean_action": float(np.mean(act_mags)),
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"mean_min_radius": float(np.mean(min_radii)),
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"mean_min_dog_com": float(np.mean(min_dog_com)),
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"mean_min_pen": float(np.mean(min_pen)),
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}
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def main():
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p = argparse.ArgumentParser()
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p.add_argument("--run-dir", type=str, default=None)
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p.add_argument("--model", type=str, default=None)
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p.add_argument("--vecnorm", type=str, default=None)
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p.add_argument("--max-sheep", type=int, default=10)
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p.add_argument("--episodes", type=int, default=10)
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p.add_argument("--max-steps", type=int, default=2000)
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args = p.parse_args()
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if args.run_dir:
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model_path = os.path.join(args.run_dir, "final_model.zip")
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if not os.path.exists(model_path):
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|
||||||
model_path = os.path.join(args.run_dir, "best_model", "best_model.zip")
|
|
||||||
vn_path = os.path.join(args.run_dir, "vecnorm.pkl")
|
|
||||||
else:
|
|
||||||
model_path = args.model
|
|
||||||
vn_path = args.vecnorm
|
|
||||||
|
|
||||||
print(f"Loading model: {model_path}")
|
|
||||||
print(f"Loading vecnorm: {vn_path}\n")
|
|
||||||
model = PPO.load(model_path, device="cpu")
|
|
||||||
raw = DummyVecEnv([lambda: HerdingEnv(n_sheep=1, max_steps=args.max_steps)])
|
|
||||||
vn_template = VecNormalize.load(vn_path, raw)
|
|
||||||
|
|
||||||
print(f"{'n_sheep':>7} {'success':>8} {'act':>6} {'min_r':>7} "
|
|
||||||
f"{'dog→com':>8} {'com→pen':>8} failure breakdown")
|
|
||||||
print("-" * 90)
|
|
||||||
for n in range(1, args.max_sheep + 1):
|
|
||||||
r = evaluate(model, vn_template, n, args.episodes, args.max_steps)
|
|
||||||
fb = " ".join(f"{m}={c}" for m, c in
|
|
||||||
sorted(r["failure"].items(), key=lambda x: -x[1]))
|
|
||||||
print(f"{n:>7d} {r['success_rate']*100:>6.0f}% "
|
|
||||||
f"{r['mean_action']:>6.2f} "
|
|
||||||
f"{r['mean_min_radius']:>6.2f}m "
|
|
||||||
f"{r['mean_min_dog_com']:>7.2f}m "
|
|
||||||
f"{r['mean_min_pen']:>7.2f}m {fb}")
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
@@ -1,142 +0,0 @@
|
|||||||
"""
|
|
||||||
Evaluation script for a trained herding policy.
|
|
||||||
|
|
||||||
Runs N episodes and reports the three project metrics:
|
|
||||||
1. Success rate — fraction of episodes where all sheep are penned
|
|
||||||
2. Time-to-pen — mean steps across successful episodes (per sheep)
|
|
||||||
3. Flock dispersion — mean pairwise distance among active sheep, averaged
|
|
||||||
over all timesteps (lower = tighter herding)
|
|
||||||
|
|
||||||
Usage
|
|
||||||
-----
|
|
||||||
python evaluate.py --model runs/ppo_herding/best_model/best_model.zip \
|
|
||||||
--vecnorm runs/ppo_herding/vecnorm.pkl \
|
|
||||||
--n-sheep 5 --episodes 100
|
|
||||||
|
|
||||||
Add --render to watch the first episode in a matplotlib window.
|
|
||||||
"""
|
|
||||||
|
|
||||||
import argparse
|
|
||||||
|
|
||||||
import numpy as np
|
|
||||||
from stable_baselines3 import PPO
|
|
||||||
from stable_baselines3.common.vec_env import DummyVecEnv, VecNormalize
|
|
||||||
|
|
||||||
from herding_env import HerdingEnv
|
|
||||||
|
|
||||||
|
|
||||||
def make_single_env(n_sheep: int, max_steps: int, render_mode: str = None):
|
|
||||||
def _init():
|
|
||||||
return HerdingEnv(n_sheep=n_sheep, max_steps=max_steps,
|
|
||||||
render_mode=render_mode)
|
|
||||||
return _init
|
|
||||||
|
|
||||||
|
|
||||||
def pairwise_mean(positions: np.ndarray, n_active: int) -> float:
|
|
||||||
"""Mean pairwise distance among the first n_active sheep."""
|
|
||||||
if n_active < 2:
|
|
||||||
return 0.0
|
|
||||||
pts = positions[:n_active]
|
|
||||||
dists = []
|
|
||||||
for i in range(n_active):
|
|
||||||
for j in range(i + 1, n_active):
|
|
||||||
dists.append(float(np.linalg.norm(pts[i] - pts[j])))
|
|
||||||
return float(np.mean(dists))
|
|
||||||
|
|
||||||
|
|
||||||
def parse_args():
|
|
||||||
p = argparse.ArgumentParser()
|
|
||||||
p.add_argument("--model", required=True,
|
|
||||||
help="Path to saved model .zip")
|
|
||||||
p.add_argument("--vecnorm", default=None,
|
|
||||||
help="Path to VecNormalize stats .pkl (optional)")
|
|
||||||
p.add_argument("--n-sheep", type=int, default=1)
|
|
||||||
p.add_argument("--episodes", type=int, default=50)
|
|
||||||
p.add_argument("--max-steps", type=int, default=2000)
|
|
||||||
p.add_argument("--render", action="store_true",
|
|
||||||
help="Render first episode in matplotlib")
|
|
||||||
p.add_argument("--seed", type=int, default=42)
|
|
||||||
return p.parse_args()
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
args = parse_args()
|
|
||||||
|
|
||||||
render_mode = "human" if args.render else None
|
|
||||||
raw_env = DummyVecEnv([make_single_env(args.n_sheep, args.max_steps,
|
|
||||||
render_mode)])
|
|
||||||
if args.vecnorm:
|
|
||||||
env = VecNormalize.load(args.vecnorm, raw_env)
|
|
||||||
env.training = False
|
|
||||||
env.norm_reward = False
|
|
||||||
else:
|
|
||||||
env = raw_env
|
|
||||||
|
|
||||||
model = PPO.load(args.model, env=env)
|
|
||||||
|
|
||||||
successes = []
|
|
||||||
steps_to_pen = [] # steps for successful episodes
|
|
||||||
dispersions = [] # per-episode mean flock dispersion
|
|
||||||
|
|
||||||
for ep in range(args.episodes):
|
|
||||||
obs = env.reset()
|
|
||||||
done = False
|
|
||||||
ep_steps = 0
|
|
||||||
ep_dispersion = []
|
|
||||||
first_ep = ep == 0
|
|
||||||
|
|
||||||
while not done:
|
|
||||||
action, _ = model.predict(obs, deterministic=True)
|
|
||||||
obs, _, dones, infos = env.step(action)
|
|
||||||
done = dones[0]
|
|
||||||
ep_steps += 1
|
|
||||||
|
|
||||||
# Access the underlying HerdingEnv for dispersion calculation
|
|
||||||
inner = env.envs[0] if hasattr(env, "envs") else env.venv.envs[0]
|
|
||||||
if not inner.penned[:inner.n_sheep].all():
|
|
||||||
_, radius, _ = inner._flock_stats()
|
|
||||||
ep_dispersion.append(radius)
|
|
||||||
|
|
||||||
if first_ep and render_mode == "human":
|
|
||||||
pass # render() is called inside step()
|
|
||||||
|
|
||||||
info = infos[0]
|
|
||||||
n_penned = info.get("n_penned", 0)
|
|
||||||
n_sheep = info.get("n_sheep", args.n_sheep)
|
|
||||||
success = n_penned == n_sheep
|
|
||||||
|
|
||||||
successes.append(int(success))
|
|
||||||
if success:
|
|
||||||
steps_to_pen.append(ep_steps / n_sheep)
|
|
||||||
if ep_dispersion:
|
|
||||||
dispersions.append(float(np.mean(ep_dispersion)))
|
|
||||||
|
|
||||||
if (ep + 1) % 10 == 0:
|
|
||||||
print(f" Episode {ep + 1:>4}/{args.episodes} "
|
|
||||||
f"success={int(success)} steps={ep_steps}")
|
|
||||||
|
|
||||||
env.close()
|
|
||||||
|
|
||||||
# -----------------------------------------------------------------------
|
|
||||||
# Report
|
|
||||||
# -----------------------------------------------------------------------
|
|
||||||
success_rate = float(np.mean(successes))
|
|
||||||
mean_ttp = float(np.mean(steps_to_pen)) if steps_to_pen else float("nan")
|
|
||||||
mean_disp = float(np.mean(dispersions)) if dispersions else float("nan")
|
|
||||||
|
|
||||||
print("\n" + "=" * 50)
|
|
||||||
print(f" Model : {args.model}")
|
|
||||||
print(f" Sheep : {args.n_sheep}")
|
|
||||||
print(f" Episodes : {args.episodes}")
|
|
||||||
print("-" * 50)
|
|
||||||
print(f" Success rate : {success_rate * 100:.1f}%"
|
|
||||||
f" ({sum(successes)}/{args.episodes})")
|
|
||||||
print(f" Time-to-pen : {mean_ttp:.1f} steps/sheep"
|
|
||||||
f" (successful episodes only)")
|
|
||||||
print(f" Flock radius : {mean_disp:.2f} m"
|
|
||||||
f" (max sheep-to-COM distance while active)")
|
|
||||||
print("=" * 50)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
+26
-16
@@ -61,18 +61,19 @@ class HerdingEnv(gym.Env):
|
|||||||
W_COMPLETE = 100.0 # all sheep penned
|
W_COMPLETE = 100.0 # all sheep penned
|
||||||
W_STEP_COST = 0.02 # time penalty — strong enough to punish doing nothing
|
W_STEP_COST = 0.02 # time penalty — strong enough to punish doing nothing
|
||||||
W_COMPACT = 0.0 # reward for flock-radius reduction (off by default)
|
W_COMPACT = 0.0 # reward for flock-radius reduction (off by default)
|
||||||
W_WALL_TOUCH = 0.01 # per-sheep, per-step penalty when an active sheep is
|
W_WALL_TOUCH = 0.15 # per-sheep max penalty at wall surface. Linear ramp
|
||||||
# pinned against the outside of a pen W/E wall. Kept
|
# within WALL_TOUCH_BUFFER gives the RL agent a gradient
|
||||||
# small (<step_cost) so the dog isn't incentivised to
|
# signal to avoid pinning sheep against pen walls.
|
||||||
# hover above the entrance to avoid the penalty.
|
# 0.15 ≈ 7.5× step_cost — strong enough to shape behavior
|
||||||
WALL_TOUCH_BUFFER = 0.3 # metres outside the wall counted as "touching"
|
# without overwhelming progress reward.
|
||||||
|
WALL_TOUCH_BUFFER = 0.8 # metres from wall where penalty starts ramping
|
||||||
ALIGN_SHAPE = "standoff" # "standoff" (peaks at IDEAL) | "near" (peaks at 0)
|
ALIGN_SHAPE = "standoff" # "standoff" (peaks at IDEAL) | "near" (peaks at 0)
|
||||||
ALIGN_GATED = True # gate alignment on action magnitude
|
ALIGN_GATED = True # gate alignment on action magnitude
|
||||||
ENTRY_AWARE = True # progress reward targets PEN_ENTRY (entrance face), not
|
ENTRY_AWARE = False # When True, targets PEN_ENTRY (entrance face) instead
|
||||||
# PEN_CENTER. Stops the wall-corraling exploit: when a
|
# of PEN_CENTER for progress/obs. Intended to fix wall-
|
||||||
# sheep is shoved south past y=-8 outside the pen x-range,
|
# corralling but collapsed n_sheep≥2 success rate.
|
||||||
# distance to PEN_ENTRY grows (since target is at y=-8),
|
# The wall-touch gradient penalty handles wall avoidance
|
||||||
# so progress reward goes negative instead of positive.
|
# without breaking the core herding signal.
|
||||||
|
|
||||||
# Initial sheep spawn: first sheep placed anywhere; rest within CLUSTER_RADIUS
|
# Initial sheep spawn: first sheep placed anywhere; rest within CLUSTER_RADIUS
|
||||||
# of it. Set to None for legacy uniform-scatter behaviour.
|
# of it. Set to None for legacy uniform-scatter behaviour.
|
||||||
@@ -406,16 +407,25 @@ class HerdingEnv(gym.Env):
|
|||||||
else:
|
else:
|
||||||
alignment = 0.0
|
alignment = 0.0
|
||||||
|
|
||||||
# Wall-touch penalty: count active sheep pinned against outside W/E pen walls.
|
# Wall-touch penalty: distance-based gradient covering all 3 solid pen
|
||||||
|
# walls (west, east, south). Linearly ramps from 0 at buffer edge to
|
||||||
|
# W_WALL_TOUCH at the wall surface — gives the agent a smooth signal
|
||||||
|
# to avoid pinning sheep against walls.
|
||||||
if self.W_WALL_TOUCH and active.any():
|
if self.W_WALL_TOUCH and active.any():
|
||||||
pts = self.sheep_pos[:self.n_sheep][active]
|
pts = self.sheep_pos[:self.n_sheep][active]
|
||||||
px0, px1 = self.PEN_X
|
px0, px1 = self.PEN_X
|
||||||
py0, py1 = self.PEN_Y
|
py0, py1 = self.PEN_Y
|
||||||
in_y = (pts[:, 1] > py0) & (pts[:, 1] < py1)
|
buf = self.WALL_TOUCH_BUFFER
|
||||||
near_w = (pts[:, 0] < px0) & (pts[:, 0] > px0 - self.WALL_TOUCH_BUFFER)
|
far = buf + 1.0
|
||||||
near_e = (pts[:, 0] > px1) & (pts[:, 0] < px1 + self.WALL_TOUCH_BUFFER)
|
d_w = np.where((pts[:, 0] < px0) & (pts[:, 1] > py0) & (pts[:, 1] < py1),
|
||||||
n_touch = int(((near_w | near_e) & in_y).sum())
|
px0 - pts[:, 0], far)
|
||||||
r_wall_touch = -n_touch * self.W_WALL_TOUCH
|
d_e = np.where((pts[:, 0] > px1) & (pts[:, 1] > py0) & (pts[:, 1] < py1),
|
||||||
|
pts[:, 0] - px1, far)
|
||||||
|
d_s = np.where((pts[:, 1] < py0) & (pts[:, 0] > px0) & (pts[:, 0] < px1),
|
||||||
|
py0 - pts[:, 1], far)
|
||||||
|
d_min = np.minimum(np.minimum(d_w, d_e), d_s)
|
||||||
|
penalties = np.maximum(0.0, 1.0 - d_min / buf) * self.W_WALL_TOUCH
|
||||||
|
r_wall_touch = -float(penalties.sum())
|
||||||
else:
|
else:
|
||||||
r_wall_touch = 0.0
|
r_wall_touch = 0.0
|
||||||
|
|
||||||
|
|||||||
@@ -1,172 +0,0 @@
|
|||||||
"""
|
|
||||||
Replay a reward config from the sweep with a longer training budget.
|
|
||||||
|
|
||||||
Tells you whether a promising sweep config was bottlenecked by training time
|
|
||||||
vs. structurally limited. If sr2/sr3 climb past their sweep numbers given more
|
|
||||||
budget, the issue was budget; if they plateau, the policy/obs needs work.
|
|
||||||
|
|
||||||
Usage
|
|
||||||
-----
|
|
||||||
python replay_config.py --config runs/sweep_<ts>/best.json
|
|
||||||
python replay_config.py --config runs/sweep_<ts>/trial_007/config.json \
|
|
||||||
--max-sheep 4 --steps-per-stage 1500000
|
|
||||||
|
|
||||||
Argument summary:
|
|
||||||
--config JSON file with the reward config (sweep best.json works)
|
|
||||||
--max-sheep Final curriculum stage (default 3)
|
|
||||||
--steps-per-stage Env steps per curriculum stage (default 1.5M)
|
|
||||||
--n-envs Parallel envs (default 8)
|
|
||||||
--eval-episodes Per-stage eval episodes (default 30)
|
|
||||||
--run-dir Output directory (default runs/replay_<ts>/)
|
|
||||||
"""
|
|
||||||
import argparse
|
|
||||||
import json
|
|
||||||
import os
|
|
||||||
import time
|
|
||||||
from copy import deepcopy
|
|
||||||
|
|
||||||
import numpy as np
|
|
||||||
from stable_baselines3 import PPO
|
|
||||||
from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv, VecNormalize
|
|
||||||
|
|
||||||
from herding_env import HerdingEnv
|
|
||||||
from sweep_reward import ProgressCallback, reward_cfg, evaluate, make_env
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
p = argparse.ArgumentParser()
|
|
||||||
p.add_argument("--config", type=str, required=True,
|
|
||||||
help="Reward config JSON (sweep best.json or trial config.json)")
|
|
||||||
p.add_argument("--start-sheep", type=int, default=1)
|
|
||||||
p.add_argument("--max-sheep", type=int, default=3)
|
|
||||||
p.add_argument("--steps-per-stage", type=int, default=1_500_000)
|
|
||||||
p.add_argument("--mixed", action="store_true",
|
|
||||||
help="Train with n_sheep randomized per episode (no curriculum). "
|
|
||||||
"Total train steps = steps-per-stage * max_sheep.")
|
|
||||||
p.add_argument("--final-mixed-steps", type=int, default=0,
|
|
||||||
help="After the curriculum, train this many extra steps with "
|
|
||||||
"random_n_sheep ∈ [1, max_sheep] to consolidate the policy "
|
|
||||||
"across all flock sizes. Re-evaluates all n_sheep at the end.")
|
|
||||||
p.add_argument("--n-envs", type=int, default=8)
|
|
||||||
p.add_argument("--max-steps", type=int, default=2500)
|
|
||||||
p.add_argument("--eval-episodes", type=int, default=30)
|
|
||||||
p.add_argument("--run-dir", type=str, default=None)
|
|
||||||
args = p.parse_args()
|
|
||||||
|
|
||||||
with open(args.config) as f:
|
|
||||||
raw = json.load(f)
|
|
||||||
cfg = raw["config"] if "config" in raw and isinstance(raw["config"], dict) else raw
|
|
||||||
rcfg = reward_cfg(cfg)
|
|
||||||
print(f"Config: {cfg}")
|
|
||||||
|
|
||||||
run_dir = args.run_dir or os.path.join(
|
|
||||||
"runs", "replay_" + time.strftime("%Y%m%d_%H%M%S")
|
|
||||||
)
|
|
||||||
os.makedirs(run_dir, exist_ok=True)
|
|
||||||
with open(os.path.join(run_dir, "config.json"), "w") as f:
|
|
||||||
json.dump(cfg, f, indent=2)
|
|
||||||
print(f"Run dir: {run_dir}")
|
|
||||||
if args.mixed:
|
|
||||||
print(f"MIXED training: random n_sheep ∈ [1, {args.max_sheep}], "
|
|
||||||
f"{args.steps_per_stage * args.max_sheep:,} total steps")
|
|
||||||
else:
|
|
||||||
print(f"Curriculum: {args.start_sheep} → {args.max_sheep} sheep, "
|
|
||||||
f"{args.steps_per_stage:,} steps/stage")
|
|
||||||
|
|
||||||
train_env = SubprocVecEnv([
|
|
||||||
make_env(args.max_sheep if args.mixed else args.start_sheep,
|
|
||||||
seed=i, max_steps=args.max_steps, rcfg=rcfg,
|
|
||||||
random_n_sheep=args.mixed)
|
|
||||||
for i in range(args.n_envs)
|
|
||||||
])
|
|
||||||
vn = VecNormalize(train_env, norm_obs=True, norm_reward=True, clip_obs=10.0)
|
|
||||||
|
|
||||||
model = PPO(
|
|
||||||
"MlpPolicy", vn,
|
|
||||||
learning_rate=3e-4, n_steps=2048, batch_size=256, n_epochs=10,
|
|
||||||
gamma=0.995, gae_lambda=0.95, clip_range=0.2,
|
|
||||||
ent_coef=cfg["ent_coef"], vf_coef=0.5, max_grad_norm=0.5,
|
|
||||||
policy_kwargs=dict(net_arch=[256, 256]),
|
|
||||||
verbose=0,
|
|
||||||
)
|
|
||||||
|
|
||||||
stage_results = []
|
|
||||||
t0 = time.time()
|
|
||||||
try:
|
|
||||||
if args.mixed:
|
|
||||||
total = args.steps_per_stage * args.max_sheep
|
|
||||||
print(f"\n[Mixed] training {total:,} steps")
|
|
||||||
model.learn(
|
|
||||||
total_timesteps=total,
|
|
||||||
reset_num_timesteps=True,
|
|
||||||
callback=ProgressCallback(0, "mixed", freq=100_000),
|
|
||||||
)
|
|
||||||
for n in range(1, args.max_sheep + 1):
|
|
||||||
print(f"[Mixed] evaluating n={n}, {args.eval_episodes} eps")
|
|
||||||
r = evaluate(model, vn, n, args.eval_episodes, args.max_steps, rcfg)
|
|
||||||
print(f"[Mixed] n_sheep={n} sr={r['sr']*100:.0f}% "
|
|
||||||
f"mean_len={r['mean_len']:.0f} "
|
|
||||||
f"mean_min_pen={r['mean_min_pen']:.1f}m "
|
|
||||||
f"mean_act={r['mean_act']:.2f}")
|
|
||||||
stage_results.append({"n_sheep": n, **r})
|
|
||||||
else:
|
|
||||||
for n in range(args.start_sheep, args.max_sheep + 1):
|
|
||||||
if n > args.start_sheep:
|
|
||||||
vn.env_method("set_n_sheep", n)
|
|
||||||
print(f"\n[Stage n_sheep={n}] training {args.steps_per_stage:,} steps")
|
|
||||||
model.learn(
|
|
||||||
total_timesteps=args.steps_per_stage,
|
|
||||||
reset_num_timesteps=(n == args.start_sheep),
|
|
||||||
callback=ProgressCallback(0, f"{n} sheep", freq=100_000),
|
|
||||||
)
|
|
||||||
print(f"[Stage n_sheep={n}] evaluating {args.eval_episodes} eps")
|
|
||||||
r = evaluate(model, vn, n, args.eval_episodes, args.max_steps, rcfg)
|
|
||||||
print(f"[Stage n_sheep={n}] sr={r['sr']*100:.0f}% "
|
|
||||||
f"mean_len={r['mean_len']:.0f} "
|
|
||||||
f"mean_min_pen={r['mean_min_pen']:.1f}m "
|
|
||||||
f"mean_act={r['mean_act']:.2f}")
|
|
||||||
stage_results.append({"n_sheep": n, **r})
|
|
||||||
|
|
||||||
# Optional consolidation pass with mixed n_sheep — fixes specialization
|
|
||||||
# imbalance from curriculum order (e.g. n=1 weakness after long n=10
|
|
||||||
# training). Replaces stage_results with the post-consolidation eval.
|
|
||||||
if args.final_mixed_steps > 0 and not args.mixed:
|
|
||||||
print(f"\n[Consolidation] mixed n_sheep ∈ [1, {args.max_sheep}], "
|
|
||||||
f"{args.final_mixed_steps:,} steps")
|
|
||||||
vn.env_method("__setattr__", "random_n_sheep", True)
|
|
||||||
model.learn(
|
|
||||||
total_timesteps=args.final_mixed_steps,
|
|
||||||
reset_num_timesteps=False,
|
|
||||||
callback=ProgressCallback(0, "consolidate", freq=100_000),
|
|
||||||
)
|
|
||||||
print("[Consolidation] re-evaluating all sheep counts")
|
|
||||||
stage_results = []
|
|
||||||
for n in range(1, args.max_sheep + 1):
|
|
||||||
r = evaluate(model, vn, n, args.eval_episodes, args.max_steps, rcfg)
|
|
||||||
print(f"[Consolidation] n_sheep={n} sr={r['sr']*100:.0f}% "
|
|
||||||
f"mean_len={r['mean_len']:.0f} "
|
|
||||||
f"mean_min_pen={r['mean_min_pen']:.1f}m "
|
|
||||||
f"mean_act={r['mean_act']:.2f}")
|
|
||||||
stage_results.append({"n_sheep": n, **r})
|
|
||||||
|
|
||||||
model.save(os.path.join(run_dir, "final_model"))
|
|
||||||
vn.save(os.path.join(run_dir, "vecnorm.pkl"))
|
|
||||||
with open(os.path.join(run_dir, "stage_results.json"), "w") as f:
|
|
||||||
json.dump(stage_results, f, indent=2)
|
|
||||||
finally:
|
|
||||||
try: vn.close()
|
|
||||||
except Exception: pass
|
|
||||||
|
|
||||||
print("\n" + "=" * 60)
|
|
||||||
print(" REPLAY SUMMARY")
|
|
||||||
print("=" * 60)
|
|
||||||
for r in stage_results:
|
|
||||||
print(f" n_sheep={r['n_sheep']} sr={r['sr']*100:>3.0f}% "
|
|
||||||
f"len={r['mean_len']:>5.0f} min_pen={r['mean_min_pen']:>5.1f}m "
|
|
||||||
f"act={r['mean_act']:.2f}")
|
|
||||||
print(f"\n Total time: {(time.time()-t0)/60:.1f} min")
|
|
||||||
print(f" Artefacts: {run_dir}/")
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
@@ -1,35 +0,0 @@
|
|||||||
Config: {'W_PER_SHEEP': 1.0, 'W_ALIGN': 0.0, 'W_PEN_BONUS': 5.0, 'W_STEP_COST': 0.02, 'W_COMPLETE': 200.0, 'W_COMPACT': 1.5, 'ALIGN_SHAPE': 'standoff', 'ALIGN_GATED': False, 'ent_coef': 0.02}
|
|
||||||
Run dir: runs/expA_fresh2
|
|
||||||
Curriculum: 2 → 2 sheep, 2,000,000 steps/stage
|
|
||||||
|
|
||||||
[Stage n_sheep=2] training 2,000,000 steps
|
|
||||||
... [trial 1 | 2 sheep | 100,000 steps | ret(last 50)=-13.44 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 200,000 steps | ret(last 50)=-14.60 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 300,000 steps | ret(last 50)=-17.36 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 400,000 steps | ret(last 50)=-17.36 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 500,000 steps | ret(last 50)=-17.92 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 600,000 steps | ret(last 50)=-15.65 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 700,000 steps | ret(last 50)=-17.69 sr=2%]
|
|
||||||
... [trial 1 | 2 sheep | 800,000 steps | ret(last 50)=-14.61 sr=2%]
|
|
||||||
... [trial 1 | 2 sheep | 900,000 steps | ret(last 50)=-17.36 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 1,000,000 steps | ret(last 50)=-17.44 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 1,100,000 steps | ret(last 50)=-15.91 sr=2%]
|
|
||||||
... [trial 1 | 2 sheep | 1,200,000 steps | ret(last 50)=-16.08 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 1,300,000 steps | ret(last 50)=-14.34 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 1,400,000 steps | ret(last 50)=-17.00 sr=2%]
|
|
||||||
... [trial 1 | 2 sheep | 1,500,000 steps | ret(last 50)=-18.52 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 1,600,000 steps | ret(last 50)=-16.68 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 1,700,000 steps | ret(last 50)=-17.52 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 1,800,000 steps | ret(last 50)=-17.33 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 1,900,000 steps | ret(last 50)=-14.96 sr=2%]
|
|
||||||
... [trial 1 | 2 sheep | 2,000,000 steps | ret(last 50)=-15.59 sr=0%]
|
|
||||||
[Stage n_sheep=2] evaluating 30 eps
|
|
||||||
[Stage n_sheep=2] sr=0% mean_len=1500 mean_min_pen=13.2m mean_act=0.96
|
|
||||||
|
|
||||||
============================================================
|
|
||||||
REPLAY SUMMARY
|
|
||||||
============================================================
|
|
||||||
n_sheep=2 sr= 0% len= 1500 min_pen= 13.2m act=0.96
|
|
||||||
|
|
||||||
Total time: 10.7 min
|
|
||||||
Artefacts: runs/expA_fresh2/
|
|
||||||
@@ -1,11 +0,0 @@
|
|||||||
{
|
|
||||||
"W_PER_SHEEP": 1.0,
|
|
||||||
"W_ALIGN": 0.0,
|
|
||||||
"W_PEN_BONUS": 5.0,
|
|
||||||
"W_STEP_COST": 0.02,
|
|
||||||
"W_COMPLETE": 200.0,
|
|
||||||
"W_COMPACT": 1.5,
|
|
||||||
"ALIGN_SHAPE": "standoff",
|
|
||||||
"ALIGN_GATED": false,
|
|
||||||
"ent_coef": 0.02
|
|
||||||
}
|
|
||||||
Binary file not shown.
@@ -1,9 +0,0 @@
|
|||||||
[
|
|
||||||
{
|
|
||||||
"n_sheep": 2,
|
|
||||||
"sr": 0.0,
|
|
||||||
"mean_len": 1500.0,
|
|
||||||
"mean_min_pen": 13.171057415008544,
|
|
||||||
"mean_act": 0.960968065615257
|
|
||||||
}
|
|
||||||
]
|
|
||||||
Binary file not shown.
@@ -1,51 +0,0 @@
|
|||||||
Config: {'W_PER_SHEEP': 1.0, 'W_ALIGN': 0.0, 'W_PEN_BONUS': 5.0, 'W_STEP_COST': 0.02, 'W_COMPLETE': 200.0, 'W_COMPACT': 1.5, 'ALIGN_SHAPE': 'standoff', 'ALIGN_GATED': False, 'ent_coef': 0.02}
|
|
||||||
Run dir: runs/expB_mixed
|
|
||||||
MIXED training: random n_sheep ∈ [1, 3], 3,000,000 total steps
|
|
||||||
|
|
||||||
[Mixed] training 3,000,000 steps
|
|
||||||
... [trial 1 | mixed | 100,000 steps | ret(last 50)=-13.68 sr=2%]
|
|
||||||
... [trial 1 | mixed | 200,000 steps | ret(last 50)=-14.08 sr=0%]
|
|
||||||
... [trial 1 | mixed | 300,000 steps | ret(last 50)=-9.80 sr=0%]
|
|
||||||
... [trial 1 | mixed | 400,000 steps | ret(last 50)=-11.20 sr=0%]
|
|
||||||
... [trial 1 | mixed | 500,000 steps | ret(last 50)=-10.61 sr=0%]
|
|
||||||
... [trial 1 | mixed | 600,000 steps | ret(last 50)=-11.19 sr=0%]
|
|
||||||
... [trial 1 | mixed | 700,000 steps | ret(last 50)=-14.22 sr=0%]
|
|
||||||
... [trial 1 | mixed | 800,000 steps | ret(last 50)=-6.31 sr=0%]
|
|
||||||
... [trial 1 | mixed | 900,000 steps | ret(last 50)=-12.68 sr=0%]
|
|
||||||
... [trial 1 | mixed | 1,000,000 steps | ret(last 50)=-11.06 sr=0%]
|
|
||||||
... [trial 1 | mixed | 1,100,000 steps | ret(last 50)=-13.39 sr=0%]
|
|
||||||
... [trial 1 | mixed | 1,200,000 steps | ret(last 50)=-14.20 sr=0%]
|
|
||||||
... [trial 1 | mixed | 1,300,000 steps | ret(last 50)=-11.33 sr=0%]
|
|
||||||
... [trial 1 | mixed | 1,400,000 steps | ret(last 50)=-10.73 sr=0%]
|
|
||||||
... [trial 1 | mixed | 1,500,000 steps | ret(last 50)=-10.91 sr=0%]
|
|
||||||
... [trial 1 | mixed | 1,600,000 steps | ret(last 50)=-10.44 sr=0%]
|
|
||||||
... [trial 1 | mixed | 1,700,000 steps | ret(last 50)=-10.56 sr=0%]
|
|
||||||
... [trial 1 | mixed | 1,800,000 steps | ret(last 50)=-15.74 sr=0%]
|
|
||||||
... [trial 1 | mixed | 1,900,000 steps | ret(last 50)=-13.46 sr=0%]
|
|
||||||
... [trial 1 | mixed | 2,000,000 steps | ret(last 50)=-9.86 sr=0%]
|
|
||||||
... [trial 1 | mixed | 2,100,000 steps | ret(last 50)=-13.07 sr=0%]
|
|
||||||
... [trial 1 | mixed | 2,200,000 steps | ret(last 50)=-9.86 sr=0%]
|
|
||||||
... [trial 1 | mixed | 2,300,000 steps | ret(last 50)=-9.73 sr=2%]
|
|
||||||
... [trial 1 | mixed | 2,400,000 steps | ret(last 50)=-12.21 sr=0%]
|
|
||||||
... [trial 1 | mixed | 2,500,000 steps | ret(last 50)=-14.27 sr=0%]
|
|
||||||
... [trial 1 | mixed | 2,600,000 steps | ret(last 50)=-10.90 sr=2%]
|
|
||||||
... [trial 1 | mixed | 2,700,000 steps | ret(last 50)=-9.67 sr=0%]
|
|
||||||
... [trial 1 | mixed | 2,800,000 steps | ret(last 50)=-14.29 sr=0%]
|
|
||||||
... [trial 1 | mixed | 2,900,000 steps | ret(last 50)=-9.08 sr=0%]
|
|
||||||
... [trial 1 | mixed | 3,000,000 steps | ret(last 50)=-11.62 sr=6%]
|
|
||||||
[Mixed] evaluating n=1, 30 eps
|
|
||||||
[Mixed] n_sheep=1 sr=0% mean_len=1500 mean_min_pen=12.1m mean_act=0.64
|
|
||||||
[Mixed] evaluating n=2, 30 eps
|
|
||||||
[Mixed] n_sheep=2 sr=0% mean_len=1500 mean_min_pen=13.6m mean_act=1.12
|
|
||||||
[Mixed] evaluating n=3, 30 eps
|
|
||||||
[Mixed] n_sheep=3 sr=0% mean_len=1500 mean_min_pen=13.3m mean_act=1.02
|
|
||||||
|
|
||||||
============================================================
|
|
||||||
REPLAY SUMMARY
|
|
||||||
============================================================
|
|
||||||
n_sheep=1 sr= 0% len= 1500 min_pen= 12.1m act=0.64
|
|
||||||
n_sheep=2 sr= 0% len= 1500 min_pen= 13.6m act=1.12
|
|
||||||
n_sheep=3 sr= 0% len= 1500 min_pen= 13.3m act=1.02
|
|
||||||
|
|
||||||
Total time: 20.6 min
|
|
||||||
Artefacts: runs/expB_mixed/
|
|
||||||
@@ -1,11 +0,0 @@
|
|||||||
{
|
|
||||||
"W_PER_SHEEP": 1.0,
|
|
||||||
"W_ALIGN": 0.0,
|
|
||||||
"W_PEN_BONUS": 5.0,
|
|
||||||
"W_STEP_COST": 0.02,
|
|
||||||
"W_COMPLETE": 200.0,
|
|
||||||
"W_COMPACT": 1.5,
|
|
||||||
"ALIGN_SHAPE": "standoff",
|
|
||||||
"ALIGN_GATED": false,
|
|
||||||
"ent_coef": 0.02
|
|
||||||
}
|
|
||||||
Binary file not shown.
@@ -1,23 +0,0 @@
|
|||||||
[
|
|
||||||
{
|
|
||||||
"n_sheep": 1,
|
|
||||||
"sr": 0.0,
|
|
||||||
"mean_len": 1500.0,
|
|
||||||
"mean_min_pen": 12.136781152089437,
|
|
||||||
"mean_act": 0.6380681545449439
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 2,
|
|
||||||
"sr": 0.0,
|
|
||||||
"mean_len": 1500.0,
|
|
||||||
"mean_min_pen": 13.609641806284587,
|
|
||||||
"mean_act": 1.1225489819858792
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 3,
|
|
||||||
"sr": 0.0,
|
|
||||||
"mean_len": 1500.0,
|
|
||||||
"mean_min_pen": 13.337443319956462,
|
|
||||||
"mean_act": 1.0186407331574738
|
|
||||||
}
|
|
||||||
]
|
|
||||||
Binary file not shown.
@@ -1,57 +0,0 @@
|
|||||||
Config: {'W_PER_SHEEP': 1.0, 'W_ALIGN': 0.0, 'W_PEN_BONUS': 5.0, 'W_STEP_COST': 0.02, 'W_COMPLETE': 200.0, 'W_COMPACT': 1.5, 'ALIGN_SHAPE': 'standoff', 'ALIGN_GATED': False, 'ent_coef': 0.02}
|
|
||||||
Run dir: runs/expC_clustered
|
|
||||||
Curriculum: 1 → 3 sheep, 1,000,000 steps/stage
|
|
||||||
|
|
||||||
[Stage n_sheep=1] training 1,000,000 steps
|
|
||||||
... [trial 1 | 1 sheep | 100,000 steps | ret(last 50)=-17.04 sr=6%]
|
|
||||||
... [trial 1 | 1 sheep | 200,000 steps | ret(last 50)=-17.39 sr=4%]
|
|
||||||
... [trial 1 | 1 sheep | 300,000 steps | ret(last 50)=-15.50 sr=4%]
|
|
||||||
... [trial 1 | 1 sheep | 400,000 steps | ret(last 50)=-2.07 sr=26%]
|
|
||||||
... [trial 1 | 1 sheep | 500,000 steps | ret(last 50)=+3.81 sr=52%]
|
|
||||||
... [trial 1 | 1 sheep | 600,000 steps | ret(last 50)=+8.03 sr=76%]
|
|
||||||
... [trial 1 | 1 sheep | 700,000 steps | ret(last 50)=+9.49 sr=86%]
|
|
||||||
... [trial 1 | 1 sheep | 800,000 steps | ret(last 50)=+9.42 sr=88%]
|
|
||||||
... [trial 1 | 1 sheep | 900,000 steps | ret(last 50)=+9.49 sr=88%]
|
|
||||||
... [trial 1 | 1 sheep | 1,000,000 steps | ret(last 50)=+10.34 sr=94%]
|
|
||||||
[Stage n_sheep=1] evaluating 30 eps
|
|
||||||
[Stage n_sheep=1] sr=83% mean_len=519 mean_min_pen=3.5m mean_act=0.25
|
|
||||||
|
|
||||||
[Stage n_sheep=2] training 1,000,000 steps
|
|
||||||
... [trial 1 | 2 sheep | 1,015,816 steps | ret(last 0)=+nan sr=nan%]
|
|
||||||
... [trial 1 | 2 sheep | 1,115,816 steps | ret(last 50)=-0.13 sr=10%]
|
|
||||||
... [trial 1 | 2 sheep | 1,215,816 steps | ret(last 50)=-1.23 sr=10%]
|
|
||||||
... [trial 1 | 2 sheep | 1,315,816 steps | ret(last 50)=-0.10 sr=6%]
|
|
||||||
... [trial 1 | 2 sheep | 1,415,816 steps | ret(last 50)=+4.10 sr=28%]
|
|
||||||
... [trial 1 | 2 sheep | 1,515,816 steps | ret(last 50)=+6.24 sr=32%]
|
|
||||||
... [trial 1 | 2 sheep | 1,615,816 steps | ret(last 50)=+8.48 sr=52%]
|
|
||||||
... [trial 1 | 2 sheep | 1,715,816 steps | ret(last 50)=+14.14 sr=98%]
|
|
||||||
... [trial 1 | 2 sheep | 1,815,816 steps | ret(last 50)=+14.33 sr=98%]
|
|
||||||
... [trial 1 | 2 sheep | 1,915,816 steps | ret(last 50)=+14.02 sr=100%]
|
|
||||||
... [trial 1 | 2 sheep | 2,015,816 steps | ret(last 50)=+14.05 sr=100%]
|
|
||||||
[Stage n_sheep=2] evaluating 30 eps
|
|
||||||
[Stage n_sheep=2] sr=100% mean_len=695 mean_min_pen=3.4m mean_act=0.58
|
|
||||||
|
|
||||||
[Stage n_sheep=3] training 1,000,000 steps
|
|
||||||
... [trial 1 | 3 sheep | 2,031,624 steps | ret(last 0)=+nan sr=nan%]
|
|
||||||
... [trial 1 | 3 sheep | 2,131,624 steps | ret(last 50)=+10.43 sr=56%]
|
|
||||||
... [trial 1 | 3 sheep | 2,231,624 steps | ret(last 50)=+13.91 sr=74%]
|
|
||||||
... [trial 1 | 3 sheep | 2,331,624 steps | ret(last 50)=+13.98 sr=76%]
|
|
||||||
... [trial 1 | 3 sheep | 2,431,624 steps | ret(last 50)=+12.67 sr=68%]
|
|
||||||
... [trial 1 | 3 sheep | 2,531,624 steps | ret(last 50)=+15.79 sr=90%]
|
|
||||||
... [trial 1 | 3 sheep | 2,631,624 steps | ret(last 50)=+16.29 sr=94%]
|
|
||||||
... [trial 1 | 3 sheep | 2,731,624 steps | ret(last 50)=+15.47 sr=90%]
|
|
||||||
... [trial 1 | 3 sheep | 2,831,624 steps | ret(last 50)=+16.67 sr=96%]
|
|
||||||
... [trial 1 | 3 sheep | 2,931,624 steps | ret(last 50)=+17.50 sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,031,624 steps | ret(last 50)=+16.49 sr=96%]
|
|
||||||
[Stage n_sheep=3] evaluating 30 eps
|
|
||||||
[Stage n_sheep=3] sr=90% mean_len=794 mean_min_pen=3.7m mean_act=0.47
|
|
||||||
|
|
||||||
============================================================
|
|
||||||
REPLAY SUMMARY
|
|
||||||
============================================================
|
|
||||||
n_sheep=1 sr= 83% len= 519 min_pen= 3.5m act=0.25
|
|
||||||
n_sheep=2 sr=100% len= 695 min_pen= 3.4m act=0.58
|
|
||||||
n_sheep=3 sr= 90% len= 794 min_pen= 3.7m act=0.47
|
|
||||||
|
|
||||||
Total time: 15.1 min
|
|
||||||
Artefacts: runs/expC_clustered/
|
|
||||||
@@ -1,11 +0,0 @@
|
|||||||
{
|
|
||||||
"W_PER_SHEEP": 1.0,
|
|
||||||
"W_ALIGN": 0.0,
|
|
||||||
"W_PEN_BONUS": 5.0,
|
|
||||||
"W_STEP_COST": 0.02,
|
|
||||||
"W_COMPLETE": 200.0,
|
|
||||||
"W_COMPACT": 1.5,
|
|
||||||
"ALIGN_SHAPE": "standoff",
|
|
||||||
"ALIGN_GATED": false,
|
|
||||||
"ent_coef": 0.02
|
|
||||||
}
|
|
||||||
Binary file not shown.
@@ -1,23 +0,0 @@
|
|||||||
[
|
|
||||||
{
|
|
||||||
"n_sheep": 1,
|
|
||||||
"sr": 0.8333333333333334,
|
|
||||||
"mean_len": 518.5333333333333,
|
|
||||||
"mean_min_pen": 3.5244259238243103,
|
|
||||||
"mean_act": 0.25044742608759274
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 2,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 694.9,
|
|
||||||
"mean_min_pen": 3.4314632336298625,
|
|
||||||
"mean_act": 0.5796192060058971
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 3,
|
|
||||||
"sr": 0.9,
|
|
||||||
"mean_len": 794.1333333333333,
|
|
||||||
"mean_min_pen": 3.6645382324854534,
|
|
||||||
"mean_act": 0.46590614892287907
|
|
||||||
}
|
|
||||||
]
|
|
||||||
Binary file not shown.
@@ -1,219 +0,0 @@
|
|||||||
Config: {'W_PER_SHEEP': 1.0, 'W_ALIGN': 0.0, 'W_PEN_BONUS': 5.0, 'W_STEP_COST': 0.02, 'W_COMPLETE': 200.0, 'W_COMPACT': 1.5, 'ALIGN_SHAPE': 'standoff', 'ALIGN_GATED': False, 'ent_coef': 0.02}
|
|
||||||
Run dir: runs/final_v2
|
|
||||||
Curriculum: 1 → 10 sheep, 1,500,000 steps/stage
|
|
||||||
|
|
||||||
[Stage n_sheep=1] training 1,500,000 steps
|
|
||||||
... [trial 1 | 1 sheep | 100,000 steps | ret(last 41)=-38.49 win_sr=10% cum_sr=10%]
|
|
||||||
... [trial 1 | 1 sheep | 200,000 steps | ret(last 50)=-32.87 win_sr=8% cum_sr=9%]
|
|
||||||
... [trial 1 | 1 sheep | 300,000 steps | ret(last 50)=-33.60 win_sr=4% cum_sr=7%]
|
|
||||||
... [trial 1 | 1 sheep | 400,000 steps | ret(last 50)=-34.78 win_sr=8% cum_sr=7%]
|
|
||||||
... [trial 1 | 1 sheep | 500,000 steps | ret(last 50)=-31.25 win_sr=12% cum_sr=8%]
|
|
||||||
... [trial 1 | 1 sheep | 600,000 steps | ret(last 50)=-32.87 win_sr=2% cum_sr=7%]
|
|
||||||
... [trial 1 | 1 sheep | 700,000 steps | ret(last 50)=-33.25 win_sr=6% cum_sr=7%]
|
|
||||||
... [trial 1 | 1 sheep | 800,000 steps | ret(last 50)=-27.80 win_sr=16% cum_sr=8%]
|
|
||||||
... [trial 1 | 1 sheep | 900,000 steps | ret(last 50)=-27.44 win_sr=14% cum_sr=9%]
|
|
||||||
... [trial 1 | 1 sheep | 1,000,000 steps | ret(last 50)=-30.52 win_sr=6% cum_sr=9%]
|
|
||||||
... [trial 1 | 1 sheep | 1,100,000 steps | ret(last 50)=-24.75 win_sr=20% cum_sr=10%]
|
|
||||||
... [trial 1 | 1 sheep | 1,200,000 steps | ret(last 50)=-29.94 win_sr=4% cum_sr=10%]
|
|
||||||
... [trial 1 | 1 sheep | 1,300,000 steps | ret(last 50)=-22.72 win_sr=22% cum_sr=11%]
|
|
||||||
... [trial 1 | 1 sheep | 1,400,000 steps | ret(last 50)=-9.84 win_sr=46% cum_sr=14%]
|
|
||||||
... [trial 1 | 1 sheep | 1,500,000 steps | ret(last 50)=+10.01 win_sr=96% cum_sr=24%]
|
|
||||||
[Stage n_sheep=1] evaluating 30 eps
|
|
||||||
[Stage n_sheep=1] sr=97% mean_len=351 mean_min_pen=3.9m mean_act=0.28
|
|
||||||
|
|
||||||
[Stage n_sheep=2] training 1,500,000 steps
|
|
||||||
... [trial 1 | 2 sheep | 1,507,336 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 2 sheep | 1,607,336 steps | ret(last 43)=-4.11 win_sr=33% cum_sr=33%]
|
|
||||||
... [trial 1 | 2 sheep | 1,707,336 steps | ret(last 50)=-0.34 win_sr=36% cum_sr=34%]
|
|
||||||
... [trial 1 | 2 sheep | 1,807,336 steps | ret(last 50)=+14.73 win_sr=92% cum_sr=62%]
|
|
||||||
... [trial 1 | 2 sheep | 1,907,336 steps | ret(last 50)=+17.38 win_sr=100% cum_sr=76%]
|
|
||||||
... [trial 1 | 2 sheep | 2,007,336 steps | ret(last 50)=+16.80 win_sr=100% cum_sr=83%]
|
|
||||||
... [trial 1 | 2 sheep | 2,107,336 steps | ret(last 50)=+15.67 win_sr=100% cum_sr=87%]
|
|
||||||
... [trial 1 | 2 sheep | 2,207,336 steps | ret(last 50)=+15.39 win_sr=100% cum_sr=90%]
|
|
||||||
... [trial 1 | 2 sheep | 2,307,336 steps | ret(last 50)=+15.58 win_sr=100% cum_sr=92%]
|
|
||||||
... [trial 1 | 2 sheep | 2,407,336 steps | ret(last 50)=+15.01 win_sr=100% cum_sr=93%]
|
|
||||||
... [trial 1 | 2 sheep | 2,507,336 steps | ret(last 50)=+15.50 win_sr=100% cum_sr=94%]
|
|
||||||
... [trial 1 | 2 sheep | 2,607,336 steps | ret(last 50)=+15.21 win_sr=100% cum_sr=95%]
|
|
||||||
... [trial 1 | 2 sheep | 2,707,336 steps | ret(last 50)=+15.22 win_sr=100% cum_sr=95%]
|
|
||||||
... [trial 1 | 2 sheep | 2,807,336 steps | ret(last 50)=+15.05 win_sr=100% cum_sr=96%]
|
|
||||||
... [trial 1 | 2 sheep | 2,907,336 steps | ret(last 50)=+14.37 win_sr=100% cum_sr=96%]
|
|
||||||
... [trial 1 | 2 sheep | 3,007,336 steps | ret(last 50)=+14.70 win_sr=100% cum_sr=97%]
|
|
||||||
[Stage n_sheep=2] evaluating 30 eps
|
|
||||||
[Stage n_sheep=2] sr=100% mean_len=421 mean_min_pen=3.5m mean_act=1.01
|
|
||||||
|
|
||||||
[Stage n_sheep=3] training 1,500,000 steps
|
|
||||||
... [trial 1 | 3 sheep | 3,014,664 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 3 sheep | 3,114,664 steps | ret(last 50)=+16.52 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 3 sheep | 3,214,664 steps | ret(last 50)=+16.74 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,314,664 steps | ret(last 50)=+17.09 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,414,664 steps | ret(last 50)=+16.90 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,514,664 steps | ret(last 50)=+16.97 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,614,664 steps | ret(last 50)=+17.20 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,714,664 steps | ret(last 50)=+17.09 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,814,664 steps | ret(last 50)=+17.12 win_sr=98% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,914,664 steps | ret(last 50)=+17.17 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,014,664 steps | ret(last 50)=+16.25 win_sr=98% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,114,664 steps | ret(last 50)=+17.04 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,214,664 steps | ret(last 50)=+16.31 win_sr=98% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,314,664 steps | ret(last 50)=+16.82 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,414,664 steps | ret(last 50)=+16.49 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,514,664 steps | ret(last 50)=+16.54 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=3] evaluating 30 eps
|
|
||||||
[Stage n_sheep=3] sr=100% mean_len=608 mean_min_pen=3.5m mean_act=1.06
|
|
||||||
|
|
||||||
[Stage n_sheep=4] training 1,500,000 steps
|
|
||||||
... [trial 1 | 4 sheep | 4,521,992 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 4 sheep | 4,621,992 steps | ret(last 50)=+18.55 win_sr=98% cum_sr=94%]
|
|
||||||
... [trial 1 | 4 sheep | 4,721,992 steps | ret(last 50)=+19.17 win_sr=100% cum_sr=97%]
|
|
||||||
... [trial 1 | 4 sheep | 4,821,992 steps | ret(last 50)=+18.64 win_sr=100% cum_sr=98%]
|
|
||||||
... [trial 1 | 4 sheep | 4,921,992 steps | ret(last 50)=+19.06 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 4 sheep | 5,021,992 steps | ret(last 50)=+19.01 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 4 sheep | 5,121,992 steps | ret(last 50)=+19.23 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 4 sheep | 5,221,992 steps | ret(last 50)=+18.71 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 4 sheep | 5,321,992 steps | ret(last 50)=+18.81 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 4 sheep | 5,421,992 steps | ret(last 50)=+19.51 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 4 sheep | 5,521,992 steps | ret(last 50)=+19.01 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,621,992 steps | ret(last 50)=+19.21 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,721,992 steps | ret(last 50)=+18.62 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,821,992 steps | ret(last 50)=+18.57 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,921,992 steps | ret(last 50)=+19.22 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 6,021,992 steps | ret(last 50)=+18.73 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=4] evaluating 30 eps
|
|
||||||
[Stage n_sheep=4] sr=100% mean_len=874 mean_min_pen=3.3m mean_act=1.23
|
|
||||||
|
|
||||||
[Stage n_sheep=5] training 1,500,000 steps
|
|
||||||
... [trial 1 | 5 sheep | 6,029,320 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 5 sheep | 6,129,320 steps | ret(last 50)=+22.70 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,229,320 steps | ret(last 50)=+20.82 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,329,320 steps | ret(last 50)=+20.84 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,429,320 steps | ret(last 50)=+21.70 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,529,320 steps | ret(last 50)=+21.25 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,629,320 steps | ret(last 50)=+20.61 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,729,320 steps | ret(last 50)=+21.10 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,829,320 steps | ret(last 50)=+21.42 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,929,320 steps | ret(last 50)=+21.39 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,029,320 steps | ret(last 50)=+20.80 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,129,320 steps | ret(last 50)=+21.19 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,229,320 steps | ret(last 50)=+20.92 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,329,320 steps | ret(last 50)=+20.97 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,429,320 steps | ret(last 50)=+20.48 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,529,320 steps | ret(last 50)=+21.36 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=5] evaluating 30 eps
|
|
||||||
[Stage n_sheep=5] sr=97% mean_len=945 mean_min_pen=3.4m mean_act=1.33
|
|
||||||
|
|
||||||
[Stage n_sheep=6] training 1,500,000 steps
|
|
||||||
... [trial 1 | 6 sheep | 7,536,648 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 6 sheep | 7,636,648 steps | ret(last 50)=+22.41 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 7,736,648 steps | ret(last 50)=+23.84 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 7,836,648 steps | ret(last 50)=+22.95 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 7,936,648 steps | ret(last 50)=+23.97 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,036,648 steps | ret(last 50)=+24.02 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,136,648 steps | ret(last 50)=+23.42 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,236,648 steps | ret(last 50)=+24.15 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,336,648 steps | ret(last 50)=+23.32 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,436,648 steps | ret(last 50)=+23.46 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,536,648 steps | ret(last 50)=+23.80 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,636,648 steps | ret(last 50)=+24.41 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,736,648 steps | ret(last 50)=+23.86 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,836,648 steps | ret(last 50)=+23.57 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,936,648 steps | ret(last 50)=+23.74 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 9,036,648 steps | ret(last 50)=+22.87 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=6] evaluating 30 eps
|
|
||||||
[Stage n_sheep=6] sr=100% mean_len=1162 mean_min_pen=3.1m mean_act=1.36
|
|
||||||
|
|
||||||
[Stage n_sheep=7] training 1,500,000 steps
|
|
||||||
... [trial 1 | 7 sheep | 9,043,976 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 7 sheep | 9,143,976 steps | ret(last 50)=+24.46 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,243,976 steps | ret(last 50)=+25.47 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,343,976 steps | ret(last 50)=+25.10 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,443,976 steps | ret(last 50)=+24.85 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,543,976 steps | ret(last 50)=+26.01 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,643,976 steps | ret(last 50)=+26.26 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,743,976 steps | ret(last 50)=+26.44 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,843,976 steps | ret(last 50)=+26.08 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,943,976 steps | ret(last 50)=+25.00 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,043,976 steps | ret(last 50)=+26.22 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,143,976 steps | ret(last 50)=+24.79 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,243,976 steps | ret(last 50)=+26.33 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,343,976 steps | ret(last 50)=+26.36 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,443,976 steps | ret(last 50)=+25.68 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,543,976 steps | ret(last 50)=+26.75 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=7] evaluating 30 eps
|
|
||||||
[Stage n_sheep=7] sr=100% mean_len=1253 mean_min_pen=2.7m mean_act=1.38
|
|
||||||
|
|
||||||
[Stage n_sheep=8] training 1,500,000 steps
|
|
||||||
... [trial 1 | 8 sheep | 10,551,304 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 8 sheep | 10,651,304 steps | ret(last 50)=+28.19 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 10,751,304 steps | ret(last 50)=+28.80 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 10,851,304 steps | ret(last 50)=+27.81 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 10,951,304 steps | ret(last 50)=+27.31 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,051,304 steps | ret(last 50)=+27.67 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,151,304 steps | ret(last 50)=+27.14 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,251,304 steps | ret(last 50)=+29.60 win_sr=98% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,351,304 steps | ret(last 50)=+28.81 win_sr=98% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,451,304 steps | ret(last 50)=+27.76 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,551,304 steps | ret(last 50)=+27.28 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,651,304 steps | ret(last 50)=+29.04 win_sr=98% cum_sr=99%]
|
|
||||||
... [trial 1 | 8 sheep | 11,751,304 steps | ret(last 50)=+28.75 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,851,304 steps | ret(last 50)=+29.04 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,951,304 steps | ret(last 50)=+28.27 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 12,051,304 steps | ret(last 50)=+27.90 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=8] evaluating 30 eps
|
|
||||||
[Stage n_sheep=8] sr=93% mean_len=1495 mean_min_pen=2.6m mean_act=1.39
|
|
||||||
|
|
||||||
[Stage n_sheep=9] training 1,500,000 steps
|
|
||||||
... [trial 1 | 9 sheep | 12,058,632 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 9 sheep | 12,158,632 steps | ret(last 50)=+30.67 win_sr=98% cum_sr=98%]
|
|
||||||
... [trial 1 | 9 sheep | 12,258,632 steps | ret(last 50)=+28.78 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 12,358,632 steps | ret(last 50)=+30.08 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 12,458,632 steps | ret(last 50)=+29.61 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 12,558,632 steps | ret(last 50)=+30.34 win_sr=98% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 12,658,632 steps | ret(last 50)=+29.48 win_sr=98% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 12,758,632 steps | ret(last 50)=+29.92 win_sr=98% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 12,858,632 steps | ret(last 50)=+29.26 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 12,958,632 steps | ret(last 50)=+30.36 win_sr=96% cum_sr=98%]
|
|
||||||
... [trial 1 | 9 sheep | 13,058,632 steps | ret(last 50)=+30.19 win_sr=100% cum_sr=98%]
|
|
||||||
... [trial 1 | 9 sheep | 13,158,632 steps | ret(last 50)=+29.24 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 13,258,632 steps | ret(last 50)=+30.40 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 13,358,632 steps | ret(last 50)=+31.65 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 13,458,632 steps | ret(last 50)=+30.77 win_sr=98% cum_sr=99%]
|
|
||||||
... [trial 1 | 9 sheep | 13,558,632 steps | ret(last 50)=+30.21 win_sr=94% cum_sr=98%]
|
|
||||||
[Stage n_sheep=9] evaluating 30 eps
|
|
||||||
[Stage n_sheep=9] sr=97% mean_len=1625 mean_min_pen=2.1m mean_act=1.39
|
|
||||||
|
|
||||||
[Stage n_sheep=10] training 1,500,000 steps
|
|
||||||
... [trial 1 | 10 sheep | 13,565,960 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 10 sheep | 13,665,960 steps | ret(last 50)=+30.13 win_sr=90% cum_sr=92%]
|
|
||||||
... [trial 1 | 10 sheep | 13,765,960 steps | ret(last 50)=+31.84 win_sr=96% cum_sr=92%]
|
|
||||||
... [trial 1 | 10 sheep | 13,865,960 steps | ret(last 50)=+32.66 win_sr=88% cum_sr=91%]
|
|
||||||
... [trial 1 | 10 sheep | 13,965,960 steps | ret(last 50)=+32.56 win_sr=90% cum_sr=91%]
|
|
||||||
... [trial 1 | 10 sheep | 14,065,960 steps | ret(last 50)=+31.29 win_sr=98% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,165,960 steps | ret(last 50)=+32.72 win_sr=94% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,265,960 steps | ret(last 50)=+32.42 win_sr=96% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,365,960 steps | ret(last 50)=+33.96 win_sr=92% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,465,960 steps | ret(last 50)=+33.17 win_sr=98% cum_sr=94%]
|
|
||||||
... [trial 1 | 10 sheep | 14,565,960 steps | ret(last 50)=+31.48 win_sr=96% cum_sr=94%]
|
|
||||||
... [trial 1 | 10 sheep | 14,665,960 steps | ret(last 50)=+31.19 win_sr=90% cum_sr=94%]
|
|
||||||
... [trial 1 | 10 sheep | 14,765,960 steps | ret(last 50)=+32.87 win_sr=98% cum_sr=94%]
|
|
||||||
... [trial 1 | 10 sheep | 14,865,960 steps | ret(last 50)=+32.36 win_sr=94% cum_sr=94%]
|
|
||||||
... [trial 1 | 10 sheep | 14,965,960 steps | ret(last 50)=+31.14 win_sr=94% cum_sr=94%]
|
|
||||||
... [trial 1 | 10 sheep | 15,065,960 steps | ret(last 50)=+32.18 win_sr=96% cum_sr=94%]
|
|
||||||
[Stage n_sheep=10] evaluating 30 eps
|
|
||||||
[Stage n_sheep=10] sr=97% mean_len=1816 mean_min_pen=2.0m mean_act=1.39
|
|
||||||
|
|
||||||
============================================================
|
|
||||||
REPLAY SUMMARY
|
|
||||||
============================================================
|
|
||||||
n_sheep=1 sr= 97% len= 351 min_pen= 3.9m act=0.28
|
|
||||||
n_sheep=2 sr=100% len= 421 min_pen= 3.5m act=1.01
|
|
||||||
n_sheep=3 sr=100% len= 608 min_pen= 3.5m act=1.06
|
|
||||||
n_sheep=4 sr=100% len= 874 min_pen= 3.3m act=1.23
|
|
||||||
n_sheep=5 sr= 97% len= 945 min_pen= 3.4m act=1.33
|
|
||||||
n_sheep=6 sr=100% len= 1162 min_pen= 3.1m act=1.36
|
|
||||||
n_sheep=7 sr=100% len= 1253 min_pen= 2.7m act=1.38
|
|
||||||
n_sheep=8 sr= 93% len= 1495 min_pen= 2.6m act=1.39
|
|
||||||
n_sheep=9 sr= 97% len= 1625 min_pen= 2.1m act=1.39
|
|
||||||
n_sheep=10 sr= 97% len= 1816 min_pen= 2.0m act=1.39
|
|
||||||
|
|
||||||
Total time: 90.3 min
|
|
||||||
Artefacts: runs/final_v2/
|
|
||||||
@@ -1,11 +0,0 @@
|
|||||||
{
|
|
||||||
"W_PER_SHEEP": 1.0,
|
|
||||||
"W_ALIGN": 0.0,
|
|
||||||
"W_PEN_BONUS": 5.0,
|
|
||||||
"W_STEP_COST": 0.02,
|
|
||||||
"W_COMPLETE": 200.0,
|
|
||||||
"W_COMPACT": 1.5,
|
|
||||||
"ALIGN_SHAPE": "standoff",
|
|
||||||
"ALIGN_GATED": false,
|
|
||||||
"ent_coef": 0.02
|
|
||||||
}
|
|
||||||
Binary file not shown.
@@ -1,72 +0,0 @@
|
|||||||
[
|
|
||||||
{
|
|
||||||
"n_sheep": 1,
|
|
||||||
"sr": 0.9666666666666667,
|
|
||||||
"mean_len": 350.96666666666664,
|
|
||||||
"mean_min_pen": 3.913520161310832,
|
|
||||||
"mean_act": 0.2797267940386975
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 2,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 421.46666666666664,
|
|
||||||
"mean_min_pen": 3.485754116376241,
|
|
||||||
"mean_act": 1.0053067604365706
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 3,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 608.5,
|
|
||||||
"mean_min_pen": 3.52824010848999,
|
|
||||||
"mean_act": 1.0576287743527575
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 4,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 874.1333333333333,
|
|
||||||
"mean_min_pen": 3.2648465514183043,
|
|
||||||
"mean_act": 1.2302308682249101
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 5,
|
|
||||||
"sr": 0.9666666666666667,
|
|
||||||
"mean_len": 945.1333333333333,
|
|
||||||
"mean_min_pen": 3.390091093381246,
|
|
||||||
"mean_act": 1.328577256075333
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 6,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 1162.1,
|
|
||||||
"mean_min_pen": 3.0996540347735086,
|
|
||||||
"mean_act": 1.3581346810990618
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 7,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 1252.6,
|
|
||||||
"mean_min_pen": 2.6753984689712524,
|
|
||||||
"mean_act": 1.3753795162019462
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 8,
|
|
||||||
"sr": 0.9333333333333333,
|
|
||||||
"mean_len": 1495.2333333333333,
|
|
||||||
"mean_min_pen": 2.560386610031128,
|
|
||||||
"mean_act": 1.3861974064434042
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 9,
|
|
||||||
"sr": 0.9666666666666667,
|
|
||||||
"mean_len": 1624.9,
|
|
||||||
"mean_min_pen": 2.130835851033529,
|
|
||||||
"mean_act": 1.387693840600181
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 10,
|
|
||||||
"sr": 0.9666666666666667,
|
|
||||||
"mean_len": 1816.5,
|
|
||||||
"mean_min_pen": 1.9940622925758362,
|
|
||||||
"mean_act": 1.3946097864970635
|
|
||||||
}
|
|
||||||
]
|
|
||||||
Binary file not shown.
@@ -1,253 +0,0 @@
|
|||||||
Config: {'W_PER_SHEEP': 1.0, 'W_ALIGN': 0.0, 'W_PEN_BONUS': 5.0, 'W_STEP_COST': 0.02, 'W_COMPLETE': 200.0, 'W_COMPACT': 1.5, 'ALIGN_SHAPE': 'standoff', 'ALIGN_GATED': False, 'ent_coef': 0.02}
|
|
||||||
Run dir: runs/final_v3
|
|
||||||
Curriculum: 1 → 10 sheep, 1,500,000 steps/stage
|
|
||||||
|
|
||||||
[Stage n_sheep=1] training 1,500,000 steps
|
|
||||||
... [trial 1 | 1 sheep | 100,000 steps | ret(last 40)=-28.61 win_sr=10% cum_sr=10%]
|
|
||||||
... [trial 1 | 1 sheep | 200,000 steps | ret(last 50)=-29.25 win_sr=12% cum_sr=11%]
|
|
||||||
... [trial 1 | 1 sheep | 300,000 steps | ret(last 50)=-31.55 win_sr=6% cum_sr=9%]
|
|
||||||
... [trial 1 | 1 sheep | 400,000 steps | ret(last 50)=-30.74 win_sr=10% cum_sr=9%]
|
|
||||||
... [trial 1 | 1 sheep | 500,000 steps | ret(last 50)=-32.89 win_sr=4% cum_sr=8%]
|
|
||||||
... [trial 1 | 1 sheep | 600,000 steps | ret(last 50)=-34.66 win_sr=4% cum_sr=7%]
|
|
||||||
... [trial 1 | 1 sheep | 700,000 steps | ret(last 50)=-31.44 win_sr=12% cum_sr=8%]
|
|
||||||
... [trial 1 | 1 sheep | 800,000 steps | ret(last 50)=-32.70 win_sr=6% cum_sr=8%]
|
|
||||||
... [trial 1 | 1 sheep | 900,000 steps | ret(last 50)=-35.48 win_sr=2% cum_sr=7%]
|
|
||||||
... [trial 1 | 1 sheep | 1,000,000 steps | ret(last 50)=-31.81 win_sr=10% cum_sr=8%]
|
|
||||||
... [trial 1 | 1 sheep | 1,100,000 steps | ret(last 50)=-28.53 win_sr=10% cum_sr=8%]
|
|
||||||
... [trial 1 | 1 sheep | 1,200,000 steps | ret(last 50)=-5.61 win_sr=62% cum_sr=13%]
|
|
||||||
... [trial 1 | 1 sheep | 1,300,000 steps | ret(last 50)=+11.97 win_sr=100% cum_sr=34%]
|
|
||||||
... [trial 1 | 1 sheep | 1,400,000 steps | ret(last 50)=+10.92 win_sr=96% cum_sr=50%]
|
|
||||||
... [trial 1 | 1 sheep | 1,500,000 steps | ret(last 50)=+11.97 win_sr=100% cum_sr=63%]
|
|
||||||
[Stage n_sheep=1] evaluating 30 eps
|
|
||||||
[Stage n_sheep=1] sr=100% mean_len=249 mean_min_pen=3.7m mean_act=0.41
|
|
||||||
|
|
||||||
[Stage n_sheep=2] training 1,500,000 steps
|
|
||||||
... [trial 1 | 2 sheep | 1,507,336 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 2 sheep | 1,607,336 steps | ret(last 47)=-1.11 win_sr=45% cum_sr=45%]
|
|
||||||
... [trial 1 | 2 sheep | 1,707,336 steps | ret(last 50)=-8.90 win_sr=8% cum_sr=27%]
|
|
||||||
... [trial 1 | 2 sheep | 1,807,336 steps | ret(last 50)=-5.28 win_sr=16% cum_sr=24%]
|
|
||||||
... [trial 1 | 2 sheep | 1,907,336 steps | ret(last 50)=+3.16 win_sr=58% cum_sr=33%]
|
|
||||||
... [trial 1 | 2 sheep | 2,007,336 steps | ret(last 50)=+10.26 win_sr=84% cum_sr=48%]
|
|
||||||
... [trial 1 | 2 sheep | 2,107,336 steps | ret(last 50)=+14.27 win_sr=100% cum_sr=64%]
|
|
||||||
... [trial 1 | 2 sheep | 2,207,336 steps | ret(last 50)=+14.08 win_sr=100% cum_sr=72%]
|
|
||||||
... [trial 1 | 2 sheep | 2,307,336 steps | ret(last 50)=+14.38 win_sr=100% cum_sr=77%]
|
|
||||||
... [trial 1 | 2 sheep | 2,407,336 steps | ret(last 50)=+14.27 win_sr=100% cum_sr=81%]
|
|
||||||
... [trial 1 | 2 sheep | 2,507,336 steps | ret(last 50)=+14.37 win_sr=100% cum_sr=84%]
|
|
||||||
... [trial 1 | 2 sheep | 2,607,336 steps | ret(last 50)=+14.33 win_sr=100% cum_sr=86%]
|
|
||||||
... [trial 1 | 2 sheep | 2,707,336 steps | ret(last 50)=+14.04 win_sr=100% cum_sr=87%]
|
|
||||||
... [trial 1 | 2 sheep | 2,807,336 steps | ret(last 50)=+14.25 win_sr=100% cum_sr=89%]
|
|
||||||
... [trial 1 | 2 sheep | 2,907,336 steps | ret(last 50)=+14.61 win_sr=100% cum_sr=90%]
|
|
||||||
... [trial 1 | 2 sheep | 3,007,336 steps | ret(last 50)=+13.98 win_sr=98% cum_sr=91%]
|
|
||||||
[Stage n_sheep=2] evaluating 30 eps
|
|
||||||
[Stage n_sheep=2] sr=100% mean_len=548 mean_min_pen=3.5m mean_act=0.92
|
|
||||||
|
|
||||||
[Stage n_sheep=3] training 1,500,000 steps
|
|
||||||
... [trial 1 | 3 sheep | 3,014,664 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 3 sheep | 3,114,664 steps | ret(last 50)=+16.10 win_sr=100% cum_sr=99%]
|
|
||||||
... [trial 1 | 3 sheep | 3,214,664 steps | ret(last 50)=+17.27 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,314,664 steps | ret(last 50)=+16.86 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,414,664 steps | ret(last 50)=+16.86 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,514,664 steps | ret(last 50)=+17.46 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,614,664 steps | ret(last 50)=+17.43 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,714,664 steps | ret(last 50)=+16.76 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,814,664 steps | ret(last 50)=+16.97 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 3,914,664 steps | ret(last 50)=+16.97 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,014,664 steps | ret(last 50)=+17.19 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,114,664 steps | ret(last 50)=+17.23 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,214,664 steps | ret(last 50)=+16.45 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,314,664 steps | ret(last 50)=+17.18 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,414,664 steps | ret(last 50)=+16.42 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 3 sheep | 4,514,664 steps | ret(last 50)=+16.32 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=3] evaluating 30 eps
|
|
||||||
[Stage n_sheep=3] sr=100% mean_len=640 mean_min_pen=3.5m mean_act=1.06
|
|
||||||
|
|
||||||
[Stage n_sheep=4] training 1,500,000 steps
|
|
||||||
... [trial 1 | 4 sheep | 4,521,992 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 4 sheep | 4,621,992 steps | ret(last 50)=+18.61 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 4,721,992 steps | ret(last 50)=+18.82 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 4,821,992 steps | ret(last 50)=+18.91 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 4,921,992 steps | ret(last 50)=+18.55 win_sr=98% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,021,992 steps | ret(last 50)=+18.99 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,121,992 steps | ret(last 50)=+18.76 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,221,992 steps | ret(last 50)=+18.46 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,321,992 steps | ret(last 50)=+19.21 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,421,992 steps | ret(last 50)=+17.86 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,521,992 steps | ret(last 50)=+19.19 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,621,992 steps | ret(last 50)=+18.83 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,721,992 steps | ret(last 50)=+18.51 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,821,992 steps | ret(last 50)=+18.38 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 5,921,992 steps | ret(last 50)=+18.56 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 4 sheep | 6,021,992 steps | ret(last 50)=+18.82 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=4] evaluating 30 eps
|
|
||||||
[Stage n_sheep=4] sr=100% mean_len=762 mean_min_pen=3.5m mean_act=1.26
|
|
||||||
|
|
||||||
[Stage n_sheep=5] training 1,500,000 steps
|
|
||||||
... [trial 1 | 5 sheep | 6,029,320 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 5 sheep | 6,129,320 steps | ret(last 50)=+20.46 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,229,320 steps | ret(last 50)=+20.41 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,329,320 steps | ret(last 50)=+20.58 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,429,320 steps | ret(last 50)=+21.10 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,529,320 steps | ret(last 50)=+20.48 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,629,320 steps | ret(last 50)=+20.56 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,729,320 steps | ret(last 50)=+20.51 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,829,320 steps | ret(last 50)=+20.70 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 6,929,320 steps | ret(last 50)=+20.83 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,029,320 steps | ret(last 50)=+21.52 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,129,320 steps | ret(last 50)=+21.62 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,229,320 steps | ret(last 50)=+21.22 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,329,320 steps | ret(last 50)=+21.17 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,429,320 steps | ret(last 50)=+21.00 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 5 sheep | 7,529,320 steps | ret(last 50)=+20.48 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=5] evaluating 30 eps
|
|
||||||
[Stage n_sheep=5] sr=100% mean_len=931 mean_min_pen=3.6m mean_act=1.31
|
|
||||||
|
|
||||||
[Stage n_sheep=6] training 1,500,000 steps
|
|
||||||
... [trial 1 | 6 sheep | 7,536,648 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 6 sheep | 7,636,648 steps | ret(last 50)=+21.89 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 7,736,648 steps | ret(last 50)=+22.98 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 7,836,648 steps | ret(last 50)=+22.66 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 7,936,648 steps | ret(last 50)=+23.23 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,036,648 steps | ret(last 50)=+22.83 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,136,648 steps | ret(last 50)=+22.65 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,236,648 steps | ret(last 50)=+22.22 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,336,648 steps | ret(last 50)=+22.45 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,436,648 steps | ret(last 50)=+22.55 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,536,648 steps | ret(last 50)=+22.99 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,636,648 steps | ret(last 50)=+21.99 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,736,648 steps | ret(last 50)=+22.30 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,836,648 steps | ret(last 50)=+23.06 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 8,936,648 steps | ret(last 50)=+23.32 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 6 sheep | 9,036,648 steps | ret(last 50)=+21.80 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=6] evaluating 30 eps
|
|
||||||
[Stage n_sheep=6] sr=100% mean_len=1082 mean_min_pen=3.6m mean_act=1.35
|
|
||||||
|
|
||||||
[Stage n_sheep=7] training 1,500,000 steps
|
|
||||||
... [trial 1 | 7 sheep | 9,043,976 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 7 sheep | 9,143,976 steps | ret(last 50)=+25.57 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,243,976 steps | ret(last 50)=+24.76 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,343,976 steps | ret(last 50)=+24.69 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,443,976 steps | ret(last 50)=+26.12 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,543,976 steps | ret(last 50)=+25.53 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,643,976 steps | ret(last 50)=+25.39 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,743,976 steps | ret(last 50)=+24.45 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,843,976 steps | ret(last 50)=+26.45 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 9,943,976 steps | ret(last 50)=+24.51 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,043,976 steps | ret(last 50)=+24.80 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,143,976 steps | ret(last 50)=+25.56 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,243,976 steps | ret(last 50)=+25.75 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,343,976 steps | ret(last 50)=+25.64 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,443,976 steps | ret(last 50)=+26.45 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 7 sheep | 10,543,976 steps | ret(last 50)=+25.19 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=7] evaluating 30 eps
|
|
||||||
[Stage n_sheep=7] sr=100% mean_len=1081 mean_min_pen=3.5m mean_act=1.37
|
|
||||||
|
|
||||||
[Stage n_sheep=8] training 1,500,000 steps
|
|
||||||
... [trial 1 | 8 sheep | 10,551,304 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 8 sheep | 10,651,304 steps | ret(last 50)=+26.63 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 10,751,304 steps | ret(last 50)=+27.63 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 10,851,304 steps | ret(last 50)=+27.53 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 10,951,304 steps | ret(last 50)=+27.43 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,051,304 steps | ret(last 50)=+27.70 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,151,304 steps | ret(last 50)=+26.53 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,251,304 steps | ret(last 50)=+27.24 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,351,304 steps | ret(last 50)=+27.14 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,451,304 steps | ret(last 50)=+27.43 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,551,304 steps | ret(last 50)=+27.25 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,651,304 steps | ret(last 50)=+27.40 win_sr=98% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,751,304 steps | ret(last 50)=+27.35 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,851,304 steps | ret(last 50)=+26.33 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 11,951,304 steps | ret(last 50)=+26.89 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 8 sheep | 12,051,304 steps | ret(last 50)=+27.86 win_sr=100% cum_sr=100%]
|
|
||||||
[Stage n_sheep=8] evaluating 30 eps
|
|
||||||
[Stage n_sheep=8] sr=100% mean_len=1311 mean_min_pen=3.5m mean_act=1.38
|
|
||||||
|
|
||||||
[Stage n_sheep=9] training 1,500,000 steps
|
|
||||||
... [trial 1 | 9 sheep | 12,058,632 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 9 sheep | 12,158,632 steps | ret(last 50)=+29.62 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 12,258,632 steps | ret(last 50)=+31.32 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 12,358,632 steps | ret(last 50)=+30.30 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 12,458,632 steps | ret(last 50)=+29.33 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 12,558,632 steps | ret(last 50)=+28.83 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 12,658,632 steps | ret(last 50)=+29.02 win_sr=98% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 12,758,632 steps | ret(last 50)=+29.60 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 12,858,632 steps | ret(last 50)=+29.88 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 12,958,632 steps | ret(last 50)=+30.12 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 13,058,632 steps | ret(last 50)=+28.80 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 13,158,632 steps | ret(last 50)=+30.33 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 13,258,632 steps | ret(last 50)=+27.85 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 13,358,632 steps | ret(last 50)=+28.21 win_sr=96% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 13,458,632 steps | ret(last 50)=+29.88 win_sr=100% cum_sr=100%]
|
|
||||||
... [trial 1 | 9 sheep | 13,558,632 steps | ret(last 50)=+29.06 win_sr=98% cum_sr=100%]
|
|
||||||
[Stage n_sheep=9] evaluating 30 eps
|
|
||||||
[Stage n_sheep=9] sr=100% mean_len=1435 mean_min_pen=3.6m mean_act=1.39
|
|
||||||
|
|
||||||
[Stage n_sheep=10] training 1,500,000 steps
|
|
||||||
... [trial 1 | 10 sheep | 13,565,960 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | 10 sheep | 13,665,960 steps | ret(last 50)=+30.42 win_sr=96% cum_sr=96%]
|
|
||||||
... [trial 1 | 10 sheep | 13,765,960 steps | ret(last 50)=+29.97 win_sr=92% cum_sr=95%]
|
|
||||||
... [trial 1 | 10 sheep | 13,865,960 steps | ret(last 50)=+30.45 win_sr=82% cum_sr=90%]
|
|
||||||
... [trial 1 | 10 sheep | 13,965,960 steps | ret(last 50)=+29.82 win_sr=90% cum_sr=91%]
|
|
||||||
... [trial 1 | 10 sheep | 14,065,960 steps | ret(last 50)=+29.66 win_sr=90% cum_sr=91%]
|
|
||||||
... [trial 1 | 10 sheep | 14,165,960 steps | ret(last 50)=+31.57 win_sr=98% cum_sr=92%]
|
|
||||||
... [trial 1 | 10 sheep | 14,265,960 steps | ret(last 50)=+31.71 win_sr=96% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,365,960 steps | ret(last 50)=+31.75 win_sr=94% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,465,960 steps | ret(last 50)=+29.46 win_sr=88% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,565,960 steps | ret(last 50)=+29.62 win_sr=94% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,665,960 steps | ret(last 50)=+31.64 win_sr=98% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,765,960 steps | ret(last 50)=+30.86 win_sr=90% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,865,960 steps | ret(last 50)=+31.65 win_sr=90% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 14,965,960 steps | ret(last 50)=+31.75 win_sr=92% cum_sr=93%]
|
|
||||||
... [trial 1 | 10 sheep | 15,065,960 steps | ret(last 50)=+30.24 win_sr=100% cum_sr=93%]
|
|
||||||
[Stage n_sheep=10] evaluating 30 eps
|
|
||||||
[Stage n_sheep=10] sr=90% mean_len=1841 mean_min_pen=3.6m mean_act=1.39
|
|
||||||
|
|
||||||
[Consolidation] mixed n_sheep ∈ [1, 10], 2,000,000 steps
|
|
||||||
... [trial 1 | consolidate | 15,073,288 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
|
|
||||||
... [trial 1 | consolidate | 15,173,288 steps | ret(last 50)=+20.69 win_sr=94% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 15,273,288 steps | ret(last 50)=+20.62 win_sr=90% cum_sr=92%]
|
|
||||||
... [trial 1 | consolidate | 15,373,288 steps | ret(last 50)=+20.25 win_sr=94% cum_sr=93%]
|
|
||||||
... [trial 1 | consolidate | 15,473,288 steps | ret(last 50)=+19.82 win_sr=96% cum_sr=94%]
|
|
||||||
... [trial 1 | consolidate | 15,573,288 steps | ret(last 50)=+20.56 win_sr=94% cum_sr=94%]
|
|
||||||
... [trial 1 | consolidate | 15,673,288 steps | ret(last 50)=+20.56 win_sr=92% cum_sr=94%]
|
|
||||||
... [trial 1 | consolidate | 15,773,288 steps | ret(last 50)=+19.43 win_sr=94% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 15,873,288 steps | ret(last 50)=+21.85 win_sr=98% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 15,973,288 steps | ret(last 50)=+21.84 win_sr=94% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 16,073,288 steps | ret(last 50)=+22.13 win_sr=98% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 16,173,288 steps | ret(last 50)=+21.89 win_sr=94% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 16,273,288 steps | ret(last 50)=+21.88 win_sr=98% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 16,373,288 steps | ret(last 50)=+20.81 win_sr=94% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 16,473,288 steps | ret(last 50)=+20.91 win_sr=98% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 16,573,288 steps | ret(last 50)=+21.13 win_sr=98% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 16,673,288 steps | ret(last 50)=+19.85 win_sr=100% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 16,773,288 steps | ret(last 50)=+22.30 win_sr=92% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 16,873,288 steps | ret(last 50)=+20.61 win_sr=96% cum_sr=95%]
|
|
||||||
... [trial 1 | consolidate | 16,973,288 steps | ret(last 50)=+21.93 win_sr=98% cum_sr=96%]
|
|
||||||
... [trial 1 | consolidate | 17,073,288 steps | ret(last 50)=+21.86 win_sr=98% cum_sr=96%]
|
|
||||||
[Consolidation] re-evaluating all sheep counts
|
|
||||||
[Consolidation] n_sheep=1 sr=97% mean_len=377 mean_min_pen=3.5m mean_act=1.39
|
|
||||||
[Consolidation] n_sheep=2 sr=47% mean_len=1718 mean_min_pen=2.4m mean_act=1.39
|
|
||||||
[Consolidation] n_sheep=3 sr=93% mean_len=970 mean_min_pen=3.2m mean_act=1.39
|
|
||||||
[Consolidation] n_sheep=4 sr=97% mean_len=1008 mean_min_pen=3.3m mean_act=1.39
|
|
||||||
[Consolidation] n_sheep=5 sr=100% mean_len=1176 mean_min_pen=3.3m mean_act=1.39
|
|
||||||
[Consolidation] n_sheep=6 sr=100% mean_len=1305 mean_min_pen=3.3m mean_act=1.39
|
|
||||||
[Consolidation] n_sheep=7 sr=100% mean_len=1300 mean_min_pen=3.4m mean_act=1.39
|
|
||||||
[Consolidation] n_sheep=8 sr=100% mean_len=1461 mean_min_pen=3.5m mean_act=1.39
|
|
||||||
[Consolidation] n_sheep=9 sr=87% mean_len=1607 mean_min_pen=3.8m mean_act=1.39
|
|
||||||
[Consolidation] n_sheep=10 sr=80% mean_len=1801 mean_min_pen=3.7m mean_act=1.39
|
|
||||||
|
|
||||||
============================================================
|
|
||||||
REPLAY SUMMARY
|
|
||||||
============================================================
|
|
||||||
n_sheep=1 sr= 97% len= 377 min_pen= 3.5m act=1.39
|
|
||||||
n_sheep=2 sr= 47% len= 1718 min_pen= 2.4m act=1.39
|
|
||||||
n_sheep=3 sr= 93% len= 970 min_pen= 3.2m act=1.39
|
|
||||||
n_sheep=4 sr= 97% len= 1008 min_pen= 3.3m act=1.39
|
|
||||||
n_sheep=5 sr=100% len= 1176 min_pen= 3.3m act=1.39
|
|
||||||
n_sheep=6 sr=100% len= 1305 min_pen= 3.3m act=1.39
|
|
||||||
n_sheep=7 sr=100% len= 1300 min_pen= 3.4m act=1.39
|
|
||||||
n_sheep=8 sr=100% len= 1461 min_pen= 3.5m act=1.39
|
|
||||||
n_sheep=9 sr= 87% len= 1607 min_pen= 3.8m act=1.39
|
|
||||||
n_sheep=10 sr= 80% len= 1801 min_pen= 3.7m act=1.39
|
|
||||||
|
|
||||||
Total time: 110.1 min
|
|
||||||
Artefacts: runs/final_v3/
|
|
||||||
@@ -1,11 +0,0 @@
|
|||||||
{
|
|
||||||
"W_PER_SHEEP": 1.0,
|
|
||||||
"W_ALIGN": 0.0,
|
|
||||||
"W_PEN_BONUS": 5.0,
|
|
||||||
"W_STEP_COST": 0.02,
|
|
||||||
"W_COMPLETE": 200.0,
|
|
||||||
"W_COMPACT": 1.5,
|
|
||||||
"ALIGN_SHAPE": "standoff",
|
|
||||||
"ALIGN_GATED": false,
|
|
||||||
"ent_coef": 0.02
|
|
||||||
}
|
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||||||
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|
|||||||
[
|
|
||||||
{
|
|
||||||
"n_sheep": 1,
|
|
||||||
"sr": 0.9666666666666667,
|
|
||||||
"mean_len": 377.3666666666667,
|
|
||||||
"mean_min_pen": 3.5389957586924234,
|
|
||||||
"mean_act": 1.3908841227086732
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 2,
|
|
||||||
"sr": 0.4666666666666667,
|
|
||||||
"mean_len": 1717.6333333333334,
|
|
||||||
"mean_min_pen": 2.4164488633473713,
|
|
||||||
"mean_act": 1.3922284740020803
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 3,
|
|
||||||
"sr": 0.9333333333333333,
|
|
||||||
"mean_len": 970.2666666666667,
|
|
||||||
"mean_min_pen": 3.203955141703288,
|
|
||||||
"mean_act": 1.3945290882248416
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 4,
|
|
||||||
"sr": 0.9666666666666667,
|
|
||||||
"mean_len": 1008.0,
|
|
||||||
"mean_min_pen": 3.279213563601176,
|
|
||||||
"mean_act": 1.3918021049325862
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 5,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 1175.8666666666666,
|
|
||||||
"mean_min_pen": 3.3209743976593016,
|
|
||||||
"mean_act": 1.3925684957666513
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 6,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 1305.0,
|
|
||||||
"mean_min_pen": 3.312229561805725,
|
|
||||||
"mean_act": 1.391130207932886
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 7,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 1300.0,
|
|
||||||
"mean_min_pen": 3.363971138000488,
|
|
||||||
"mean_act": 1.392986050516367
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 8,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 1461.3666666666666,
|
|
||||||
"mean_min_pen": 3.4741388003031415,
|
|
||||||
"mean_act": 1.392040583461347
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 9,
|
|
||||||
"sr": 0.8666666666666667,
|
|
||||||
"mean_len": 1606.7333333333333,
|
|
||||||
"mean_min_pen": 3.835897175470988,
|
|
||||||
"mean_act": 1.3907199496534952
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 10,
|
|
||||||
"sr": 0.8,
|
|
||||||
"mean_len": 1800.9666666666667,
|
|
||||||
"mean_min_pen": 3.741190282503764,
|
|
||||||
"mean_act": 1.392501896076031
|
|
||||||
}
|
|
||||||
]
|
|
||||||
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|
|||||||
{
|
|
||||||
"W_PER_SHEEP": 1.0,
|
|
||||||
"W_ALIGN": 0.0,
|
|
||||||
"W_PEN_BONUS": 5.0,
|
|
||||||
"W_STEP_COST": 0.02,
|
|
||||||
"W_COMPLETE": 200.0,
|
|
||||||
"W_COMPACT": 1.5,
|
|
||||||
"ALIGN_SHAPE": "standoff",
|
|
||||||
"ALIGN_GATED": false,
|
|
||||||
"ent_coef": 0.02
|
|
||||||
}
|
|
||||||
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|
|||||||
[
|
|
||||||
{
|
|
||||||
"n_sheep": 1,
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 267.6333333333333,
|
|
||||||
"mean_min_pen": 3.7235233147939044,
|
|
||||||
"mean_act": 0.3746675180125346
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 2,
|
|
||||||
"sr": 0.06666666666666667,
|
|
||||||
"mean_len": 1458.6666666666667,
|
|
||||||
"mean_min_pen": 14.14484707514445,
|
|
||||||
"mean_act": 0.284232099657656
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"n_sheep": 3,
|
|
||||||
"sr": 0.0,
|
|
||||||
"mean_len": 1500.0,
|
|
||||||
"mean_min_pen": 12.514182837804158,
|
|
||||||
"mean_act": 1.2590703022670828
|
|
||||||
}
|
|
||||||
]
|
|
||||||
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|
|||||||
Config: {'W_PER_SHEEP': 1.0, 'W_ALIGN': 0.0, 'W_PEN_BONUS': 5.0, 'W_STEP_COST': 0.02, 'W_COMPLETE': 200.0, 'W_COMPACT': 1.5, 'ALIGN_SHAPE': 'standoff', 'ALIGN_GATED': False, 'ent_coef': 0.02}
|
|
||||||
Run dir: runs/replay_20260425_152857
|
|
||||||
Curriculum: 1 → 3 sheep, 1,500,000 steps/stage
|
|
||||||
|
|
||||||
[Stage n_sheep=1] training 1,500,000 steps
|
|
||||||
... [trial 1 | 1 sheep | 100,000 steps | ret(last 50)=-20.83 sr=6%]
|
|
||||||
... [trial 1 | 1 sheep | 200,000 steps | ret(last 50)=-21.40 sr=4%]
|
|
||||||
... [trial 1 | 1 sheep | 300,000 steps | ret(last 50)=-22.31 sr=0%]
|
|
||||||
... [trial 1 | 1 sheep | 400,000 steps | ret(last 50)=-19.13 sr=4%]
|
|
||||||
... [trial 1 | 1 sheep | 500,000 steps | ret(last 50)=-18.79 sr=8%]
|
|
||||||
... [trial 1 | 1 sheep | 600,000 steps | ret(last 50)=-10.15 sr=8%]
|
|
||||||
... [trial 1 | 1 sheep | 700,000 steps | ret(last 50)=+10.14 sr=82%]
|
|
||||||
... [trial 1 | 1 sheep | 800,000 steps | ret(last 50)=+11.90 sr=100%]
|
|
||||||
... [trial 1 | 1 sheep | 900,000 steps | ret(last 50)=+11.32 sr=100%]
|
|
||||||
... [trial 1 | 1 sheep | 1,000,000 steps | ret(last 50)=+11.36 sr=100%]
|
|
||||||
... [trial 1 | 1 sheep | 1,100,000 steps | ret(last 50)=+11.18 sr=100%]
|
|
||||||
... [trial 1 | 1 sheep | 1,200,000 steps | ret(last 50)=+11.08 sr=100%]
|
|
||||||
... [trial 1 | 1 sheep | 1,300,000 steps | ret(last 50)=+11.14 sr=100%]
|
|
||||||
... [trial 1 | 1 sheep | 1,400,000 steps | ret(last 50)=+11.10 sr=100%]
|
|
||||||
... [trial 1 | 1 sheep | 1,500,000 steps | ret(last 50)=+10.99 sr=100%]
|
|
||||||
[Stage n_sheep=1] evaluating 30 eps
|
|
||||||
[Stage n_sheep=1] sr=100% mean_len=268 mean_min_pen=3.7m mean_act=0.37
|
|
||||||
|
|
||||||
[Stage n_sheep=2] training 1,500,000 steps
|
|
||||||
... [trial 1 | 2 sheep | 1,507,336 steps | ret(last 0)=+nan sr=nan%]
|
|
||||||
... [trial 1 | 2 sheep | 1,607,336 steps | ret(last 50)=-3.10 sr=2%]
|
|
||||||
... [trial 1 | 2 sheep | 1,707,336 steps | ret(last 50)=-3.41 sr=2%]
|
|
||||||
... [trial 1 | 2 sheep | 1,807,336 steps | ret(last 50)=-3.11 sr=6%]
|
|
||||||
... [trial 1 | 2 sheep | 1,907,336 steps | ret(last 50)=-2.65 sr=8%]
|
|
||||||
... [trial 1 | 2 sheep | 2,007,336 steps | ret(last 50)=-4.11 sr=2%]
|
|
||||||
... [trial 1 | 2 sheep | 2,107,336 steps | ret(last 50)=-3.19 sr=6%]
|
|
||||||
... [trial 1 | 2 sheep | 2,207,336 steps | ret(last 50)=-3.45 sr=4%]
|
|
||||||
... [trial 1 | 2 sheep | 2,307,336 steps | ret(last 50)=-4.13 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 2,407,336 steps | ret(last 50)=-3.47 sr=8%]
|
|
||||||
... [trial 1 | 2 sheep | 2,507,336 steps | ret(last 50)=-3.83 sr=4%]
|
|
||||||
... [trial 1 | 2 sheep | 2,607,336 steps | ret(last 50)=-4.58 sr=0%]
|
|
||||||
... [trial 1 | 2 sheep | 2,707,336 steps | ret(last 50)=-3.94 sr=2%]
|
|
||||||
... [trial 1 | 2 sheep | 2,807,336 steps | ret(last 50)=-4.15 sr=2%]
|
|
||||||
... [trial 1 | 2 sheep | 2,907,336 steps | ret(last 50)=-3.95 sr=4%]
|
|
||||||
... [trial 1 | 2 sheep | 3,007,336 steps | ret(last 50)=-4.44 sr=0%]
|
|
||||||
[Stage n_sheep=2] evaluating 30 eps
|
|
||||||
[Stage n_sheep=2] sr=7% mean_len=1459 mean_min_pen=14.1m mean_act=0.28
|
|
||||||
|
|
||||||
[Stage n_sheep=3] training 1,500,000 steps
|
|
||||||
... [trial 1 | 3 sheep | 3,014,664 steps | ret(last 0)=+nan sr=nan%]
|
|
||||||
... [trial 1 | 3 sheep | 3,114,664 steps | ret(last 50)=-4.16 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 3,214,664 steps | ret(last 50)=-4.94 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 3,314,664 steps | ret(last 50)=-4.42 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 3,414,664 steps | ret(last 50)=-4.69 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 3,514,664 steps | ret(last 50)=-3.72 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 3,614,664 steps | ret(last 50)=-5.04 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 3,714,664 steps | ret(last 50)=-4.26 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 3,814,664 steps | ret(last 50)=-4.70 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 3,914,664 steps | ret(last 50)=-4.61 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 4,014,664 steps | ret(last 50)=-4.19 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 4,114,664 steps | ret(last 50)=-4.35 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 4,214,664 steps | ret(last 50)=-4.41 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 4,314,664 steps | ret(last 50)=-4.42 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 4,414,664 steps | ret(last 50)=-4.77 sr=0%]
|
|
||||||
... [trial 1 | 3 sheep | 4,514,664 steps | ret(last 50)=-4.49 sr=0%]
|
|
||||||
[Stage n_sheep=3] evaluating 30 eps
|
|
||||||
[Stage n_sheep=3] sr=0% mean_len=1500 mean_min_pen=12.5m mean_act=1.26
|
|
||||||
|
|
||||||
============================================================
|
|
||||||
REPLAY SUMMARY
|
|
||||||
============================================================
|
|
||||||
n_sheep=1 sr=100% len= 268 min_pen= 3.7m act=0.37
|
|
||||||
n_sheep=2 sr= 7% len= 1459 min_pen= 14.1m act=0.28
|
|
||||||
n_sheep=3 sr= 0% len= 1500 min_pen= 12.5m act=1.26
|
|
||||||
|
|
||||||
Total time: 26.9 min
|
|
||||||
Artefacts: runs/replay_20260425_152857/
|
|
||||||
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|
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|
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@@ -1,41 +0,0 @@
|
|||||||
{
|
|
||||||
"trial": 0,
|
|
||||||
"config": {
|
|
||||||
"W_PER_SHEEP": 1.0,
|
|
||||||
"W_ALIGN": 0.1,
|
|
||||||
"W_PEN_BONUS": 10.0,
|
|
||||||
"W_STEP_COST": 0.02,
|
|
||||||
"W_COMPLETE": 100.0,
|
|
||||||
"W_COMPACT": 3.0,
|
|
||||||
"ALIGN_SHAPE": "standoff",
|
|
||||||
"ALIGN_GATED": false,
|
|
||||||
"ent_coef": 0.005
|
|
||||||
},
|
|
||||||
"score": 0.06,
|
|
||||||
"sr": {
|
|
||||||
"1": 0.3,
|
|
||||||
"2": 0.0,
|
|
||||||
"3": 0.0
|
|
||||||
},
|
|
||||||
"details": {
|
|
||||||
"1": {
|
|
||||||
"sr": 0.3,
|
|
||||||
"mean_len": 1252.2,
|
|
||||||
"mean_min_pen": 2.1085331559181215,
|
|
||||||
"mean_act": 0.07743233270979732
|
|
||||||
},
|
|
||||||
"2": {
|
|
||||||
"sr": 0.0,
|
|
||||||
"mean_len": 1500.0,
|
|
||||||
"mean_min_pen": 12.107558453083039,
|
|
||||||
"mean_act": 0.15608626089841424
|
|
||||||
},
|
|
||||||
"3": {
|
|
||||||
"sr": 0.0,
|
|
||||||
"mean_len": 1500.0,
|
|
||||||
"mean_min_pen": 13.675278377532958,
|
|
||||||
"mean_act": 0.10535904271739319
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"elapsed_s": 307.773992061615
|
|
||||||
}
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
{"trial": 0, "config": {"W_PER_SHEEP": 1.0, "W_ALIGN": 0.1, "W_PEN_BONUS": 10.0, "W_STEP_COST": 0.02, "W_COMPLETE": 100.0, "W_COMPACT": 3.0, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": false, "ent_coef": 0.005}, "score": 0.06, "sr": {"1": 0.3, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 0.3, "mean_len": 1252.2, "mean_min_pen": 2.1085331559181215, "mean_act": 0.07743233270979732}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 12.107558453083039, "mean_act": 0.15608626089841424}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 13.675278377532958, "mean_act": 0.10535904271739319}}, "elapsed_s": 307.773992061615}
|
|
||||||
@@ -1,41 +0,0 @@
|
|||||||
{
|
|
||||||
"trial": 13,
|
|
||||||
"config": {
|
|
||||||
"W_PER_SHEEP": 1.0,
|
|
||||||
"W_ALIGN": 0.0,
|
|
||||||
"W_PEN_BONUS": 5.0,
|
|
||||||
"W_STEP_COST": 0.02,
|
|
||||||
"W_COMPLETE": 200.0,
|
|
||||||
"W_COMPACT": 1.5,
|
|
||||||
"ALIGN_SHAPE": "standoff",
|
|
||||||
"ALIGN_GATED": false,
|
|
||||||
"ent_coef": 0.02
|
|
||||||
},
|
|
||||||
"score": 0.35,
|
|
||||||
"sr": {
|
|
||||||
"1": 1.0,
|
|
||||||
"2": 0.3,
|
|
||||||
"3": 0.0
|
|
||||||
},
|
|
||||||
"details": {
|
|
||||||
"1": {
|
|
||||||
"sr": 1.0,
|
|
||||||
"mean_len": 428.9,
|
|
||||||
"mean_min_pen": 3.731236696243286,
|
|
||||||
"mean_act": 0.33429858573849425
|
|
||||||
},
|
|
||||||
"2": {
|
|
||||||
"sr": 0.3,
|
|
||||||
"mean_len": 1242.7,
|
|
||||||
"mean_min_pen": 8.937442195415496,
|
|
||||||
"mean_act": 0.3998076917437125
|
|
||||||
},
|
|
||||||
"3": {
|
|
||||||
"sr": 0.0,
|
|
||||||
"mean_len": 1500.0,
|
|
||||||
"mean_min_pen": 14.061083602905274,
|
|
||||||
"mean_act": 0.5966902794524755
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"elapsed_s": 313.8281009197235
|
|
||||||
}
|
|
||||||
@@ -1,25 +0,0 @@
|
|||||||
{"trial": 0, "config": {"W_PER_SHEEP": 1.0, "W_ALIGN": 0.1, "W_PEN_BONUS": 10.0, "W_STEP_COST": 0.02, "W_COMPLETE": 100.0, "W_COMPACT": 3.0, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": false, "ent_coef": 0.005}, "score": 0.15000000000000002, "sr": {"1": 0.5, "2": 0.1, "3": 0.0}, "details": {"1": {"sr": 0.5, "mean_len": 1051.6, "mean_min_pen": 3.0551586985588073, "mean_act": 0.0887192903536989}, "2": {"sr": 0.1, "mean_len": 1438.1, "mean_min_pen": 10.993862140178681, "mean_act": 0.1723056222816755}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 11.92835488319397, "mean_act": 0.15403316749989074}}, "elapsed_s": 316.9084241390228}
|
|
||||||
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{"trial": 3, "config": {"W_PER_SHEEP": 6.0, "W_ALIGN": 0.05, "W_PEN_BONUS": 10.0, "W_STEP_COST": 0.02, "W_COMPLETE": 50.0, "W_COMPACT": 0.0, "ALIGN_SHAPE": "near", "ALIGN_GATED": false, "ent_coef": 0.005}, "score": 0.06, "sr": {"1": 0.3, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 0.3, "mean_len": 1137.5, "mean_min_pen": 2.1229824781417848, "mean_act": 0.08172097406143335}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 11.521494126319885, "mean_act": 0.16864279503144788}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 14.317158126831055, "mean_act": 0.05537428615499472}}, "elapsed_s": 301.6172459125519}
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{"trial": 4, "config": {"W_PER_SHEEP": 6.0, "W_ALIGN": 0.1, "W_PEN_BONUS": 5.0, "W_STEP_COST": 0.02, "W_COMPLETE": 50.0, "W_COMPACT": 3.0, "ALIGN_SHAPE": "near", "ALIGN_GATED": true, "ent_coef": 0.005}, "score": 0.2, "sr": {"1": 1.0, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 1.0, "mean_len": 567.0, "mean_min_pen": 3.2795117855072022, "mean_act": 0.1855437107780058}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 9.976170372962951, "mean_act": 0.2074074002778701}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 13.89306182861328, "mean_act": 0.21666522849385267}}, "elapsed_s": 313.525591135025}
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{"trial": 7, "config": {"W_PER_SHEEP": 6.0, "W_ALIGN": 0.025, "W_PEN_BONUS": 5.0, "W_STEP_COST": 0.05, "W_COMPLETE": 100.0, "W_COMPACT": 0.0, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": false, "ent_coef": 0.005}, "score": 0.11, "sr": {"1": 0.3, "2": 0.1, "3": 0.0}, "details": {"1": {"sr": 0.3, "mean_len": 1177.5, "mean_min_pen": 2.261639392375946, "mean_act": 0.11013885321646562}, "2": {"sr": 0.1, "mean_len": 1437.5, "mean_min_pen": 5.9263048529624935, "mean_act": 0.16420815230170227}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 13.130784749984741, "mean_act": 0.20303070502222206}}, "elapsed_s": 451.2424490451813}
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{"trial": 8, "config": {"W_PER_SHEEP": 2.0, "W_ALIGN": 0.0, "W_PEN_BONUS": 20.0, "W_STEP_COST": 0.02, "W_COMPLETE": 50.0, "W_COMPACT": 0.0, "ALIGN_SHAPE": "near", "ALIGN_GATED": false, "ent_coef": 0.05}, "score": 0.19, "sr": {"1": 0.7, "2": 0.1, "3": 0.0}, "details": {"1": {"sr": 0.7, "mean_len": 874.2, "mean_min_pen": 4.152815592288971, "mean_act": 0.1303976929043709}, "2": {"sr": 0.1, "mean_len": 1381.4, "mean_min_pen": 12.115124177932739, "mean_act": 0.3749806733317197}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 12.596546864509582, "mean_act": 0.10082290474528718}}, "elapsed_s": 349.3926422595978}
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{"trial": 10, "config": {"W_PER_SHEEP": 2.0, "W_ALIGN": 0.1, "W_PEN_BONUS": 20.0, "W_STEP_COST": 0.02, "W_COMPLETE": 200.0, "W_COMPACT": 0.5, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": false, "ent_coef": 0.02}, "score": 0.16000000000000003, "sr": {"1": 0.8, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 0.8, "mean_len": 690.7, "mean_min_pen": 3.1264367938041686, "mean_act": 0.13493279961414406}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 13.040377330780029, "mean_act": 0.20203861368317985}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 14.379706478118896, "mean_act": 0.05979441475490263}}, "elapsed_s": 310.1806254386902}
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{"trial": 11, "config": {"W_PER_SHEEP": 1.0, "W_ALIGN": 0.1, "W_PEN_BONUS": 5.0, "W_STEP_COST": 0.05, "W_COMPLETE": 50.0, "W_COMPACT": 3.0, "ALIGN_SHAPE": "near", "ALIGN_GATED": false, "ent_coef": 0.02}, "score": 0.24, "sr": {"1": 0.7, "2": 0.2, "3": 0.0}, "details": {"1": {"sr": 0.7, "mean_len": 727.5, "mean_min_pen": 2.933144009113312, "mean_act": 0.11888058594495643}, "2": {"sr": 0.2, "mean_len": 1317.8, "mean_min_pen": 10.2599928855896, "mean_act": 0.14370172662258304}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 14.231103086471558, "mean_act": 0.0614644922383149}}, "elapsed_s": 330.0620620250702}
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{"trial": 12, "config": {"W_PER_SHEEP": 2.0, "W_ALIGN": 0.05, "W_PEN_BONUS": 5.0, "W_STEP_COST": 0.05, "W_COMPLETE": 100.0, "W_COMPACT": 0.5, "ALIGN_SHAPE": "near", "ALIGN_GATED": false, "ent_coef": 0.005}, "score": 0.06, "sr": {"1": 0.3, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 0.3, "mean_len": 1244.8, "mean_min_pen": 2.1193889737129212, "mean_act": 0.08216679023110932}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 10.745809042453766, "mean_act": 0.16497857472260813}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 13.016976690292358, "mean_act": 0.09897869050660908}}, "elapsed_s": 323.27931213378906}
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{"trial": 13, "config": {"W_PER_SHEEP": 1.0, "W_ALIGN": 0.0, "W_PEN_BONUS": 5.0, "W_STEP_COST": 0.02, "W_COMPLETE": 200.0, "W_COMPACT": 1.5, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": false, "ent_coef": 0.02}, "score": 0.35, "sr": {"1": 1.0, "2": 0.3, "3": 0.0}, "details": {"1": {"sr": 1.0, "mean_len": 428.9, "mean_min_pen": 3.731236696243286, "mean_act": 0.33429858573849425}, "2": {"sr": 0.3, "mean_len": 1242.7, "mean_min_pen": 8.937442195415496, "mean_act": 0.3998076917437125}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 14.061083602905274, "mean_act": 0.5966902794524755}}, "elapsed_s": 313.8281009197235}
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{"trial": 14, "config": {"W_PER_SHEEP": 1.0, "W_ALIGN": 0.1, "W_PEN_BONUS": 10.0, "W_STEP_COST": 0.02, "W_COMPLETE": 100.0, "W_COMPACT": 1.5, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": false, "ent_coef": 0.05}, "score": 0.13999999999999999, "sr": {"1": 0.7, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 0.7, "mean_len": 912.4, "mean_min_pen": 2.940706562995911, "mean_act": 1.3471978399000248}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 9.901372599601746, "mean_act": 0.9463685217667609}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 13.291404342651367, "mean_act": 0.08601266834173493}}, "elapsed_s": 322.57220220565796}
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{"trial": 15, "config": {"W_PER_SHEEP": 2.0, "W_ALIGN": 0.05, "W_PEN_BONUS": 5.0, "W_STEP_COST": 0.02, "W_COMPLETE": 100.0, "W_COMPACT": 3.0, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": true, "ent_coef": 0.01}, "score": 0.06, "sr": {"1": 0.3, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 0.3, "mean_len": 1210.5, "mean_min_pen": 2.107759189605713, "mean_act": 0.08131515106917063}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 10.824185514450074, "mean_act": 0.20362997558291535}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 14.042323064804076, "mean_act": 0.17125511734669563}}, "elapsed_s": 312.3465087413788}
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{"trial": 16, "config": {"W_PER_SHEEP": 6.0, "W_ALIGN": 0.1, "W_PEN_BONUS": 5.0, "W_STEP_COST": 0.005, "W_COMPLETE": 200.0, "W_COMPACT": 0.0, "ALIGN_SHAPE": "near", "ALIGN_GATED": true, "ent_coef": 0.05}, "score": 0.24, "sr": {"1": 0.7, "2": 0.2, "3": 0.0}, "details": {"1": {"sr": 0.7, "mean_len": 650.1, "mean_min_pen": 2.981771671772003, "mean_act": 0.1621352170537764}, "2": {"sr": 0.2, "mean_len": 1435.5, "mean_min_pen": 8.686615812778474, "mean_act": 0.3279171284351484}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 14.374159717559815, "mean_act": 0.04937917392927017}}, "elapsed_s": 303.71519470214844}
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{"trial": 17, "config": {"W_PER_SHEEP": 2.0, "W_ALIGN": 0.025, "W_PEN_BONUS": 10.0, "W_STEP_COST": 0.005, "W_COMPLETE": 100.0, "W_COMPACT": 1.5, "ALIGN_SHAPE": "near", "ALIGN_GATED": false, "ent_coef": 0.02}, "score": 0.16, "sr": {"1": 0.3, "2": 0.2, "3": 0.0}, "details": {"1": {"sr": 0.3, "mean_len": 1088.1, "mean_min_pen": 3.4793057322502134, "mean_act": 0.09515179877670824}, "2": {"sr": 0.2, "mean_len": 1428.5, "mean_min_pen": 10.024536824226379, "mean_act": 0.4135459636897354}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 12.302330660820008, "mean_act": 0.34973196326509737}}, "elapsed_s": 315.76633620262146}
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{"trial": 18, "config": {"W_PER_SHEEP": 2.0, "W_ALIGN": 0.025, "W_PEN_BONUS": 10.0, "W_STEP_COST": 0.05, "W_COMPLETE": 50.0, "W_COMPACT": 0.0, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": true, "ent_coef": 0.005}, "score": 0.16000000000000003, "sr": {"1": 0.8, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 0.8, "mean_len": 645.4, "mean_min_pen": 3.1326077818870544, "mean_act": 0.15081361126264722}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 10.723365247249603, "mean_act": 0.10806036127302399}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 12.303192138671875, "mean_act": 0.08246586098832388}}, "elapsed_s": 318.483638048172}
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{"trial": 19, "config": {"W_PER_SHEEP": 1.0, "W_ALIGN": 0.1, "W_PEN_BONUS": 20.0, "W_STEP_COST": 0.05, "W_COMPLETE": 100.0, "W_COMPACT": 1.5, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": false, "ent_coef": 0.02}, "score": 0.13, "sr": {"1": 0.4, "2": 0.1, "3": 0.0}, "details": {"1": {"sr": 0.4, "mean_len": 1231.4, "mean_min_pen": 2.6246669054031373, "mean_act": 0.07338090033141094}, "2": {"sr": 0.1, "mean_len": 1420.2, "mean_min_pen": 8.371916389465332, "mean_act": 0.16944798908643302}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 14.287557554244994, "mean_act": 0.09957915147298428}}, "elapsed_s": 315.07627868652344}
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{"trial": 20, "config": {"W_PER_SHEEP": 6.0, "W_ALIGN": 0.0, "W_PEN_BONUS": 10.0, "W_STEP_COST": 0.05, "W_COMPLETE": 100.0, "W_COMPACT": 0.5, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": true, "ent_coef": 0.005}, "score": 0.05, "sr": {"1": 0.0, "2": 0.1, "3": 0.0}, "details": {"1": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 1.5734932541847229, "mean_act": 0.08394606926547861}, "2": {"sr": 0.1, "mean_len": 1498.9, "mean_min_pen": 6.444609999656677, "mean_act": 0.2938110977638972}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 11.258054113388061, "mean_act": 0.16288984295733971}}, "elapsed_s": 309.5854580402374}
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||||||
{"trial": 21, "config": {"W_PER_SHEEP": 2.0, "W_ALIGN": 0.05, "W_PEN_BONUS": 10.0, "W_STEP_COST": 0.02, "W_COMPLETE": 100.0, "W_COMPACT": 3.0, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": true, "ent_coef": 0.005}, "score": 0.11, "sr": {"1": 0.3, "2": 0.1, "3": 0.0}, "details": {"1": {"sr": 0.3, "mean_len": 1324.6, "mean_min_pen": 3.3425565361976624, "mean_act": 0.1115106962044226}, "2": {"sr": 0.1, "mean_len": 1443.0, "mean_min_pen": 11.069470012187958, "mean_act": 0.17271345215252376}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 13.845431709289551, "mean_act": 0.13337391122176}}, "elapsed_s": 315.54923272132874}
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||||||
{"trial": 22, "config": {"W_PER_SHEEP": 2.0, "W_ALIGN": 0.1, "W_PEN_BONUS": 10.0, "W_STEP_COST": 0.05, "W_COMPLETE": 100.0, "W_COMPACT": 1.5, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": true, "ent_coef": 0.05}, "score": 0.06, "sr": {"1": 0.3, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 0.3, "mean_len": 1220.2, "mean_min_pen": 2.1276236534118653, "mean_act": 0.4312911105166665}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 8.770305395126343, "mean_act": 0.6047595652043354}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 12.12634140253067, "mean_act": 0.14348885283676113}}, "elapsed_s": 471.740927696228}
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||||||
{"trial": 23, "config": {"W_PER_SHEEP": 6.0, "W_ALIGN": 0.025, "W_PEN_BONUS": 20.0, "W_STEP_COST": 0.005, "W_COMPLETE": 200.0, "W_COMPACT": 3.0, "ALIGN_SHAPE": "standoff", "ALIGN_GATED": false, "ent_coef": 0.01}, "score": 0.06, "sr": {"1": 0.3, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 0.3, "mean_len": 1209.4, "mean_min_pen": 3.811609184741974, "mean_act": 0.08888363576016632}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 10.143073177337646, "mean_act": 0.27062979487000655}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 15.135865116119385, "mean_act": 0.3670903712440903}}, "elapsed_s": 335.26912212371826}
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{"trial": 24, "config": {"W_PER_SHEEP": 1.0, "W_ALIGN": 0.0, "W_PEN_BONUS": 10.0, "W_STEP_COST": 0.05, "W_COMPLETE": 50.0, "W_COMPACT": 0.5, "ALIGN_SHAPE": "near", "ALIGN_GATED": true, "ent_coef": 0.02}, "score": 0.0, "sr": {"1": 0.0, "2": 0.0, "3": 0.0}, "details": {"1": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 10.014724779129029, "mean_act": 1.024556803444028}, "2": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 12.734652400016785, "mean_act": 1.0186923123559604}, "3": {"sr": 0.0, "mean_len": 1500.0, "mean_min_pen": 13.690151166915893, "mean_act": 1.000638129701217}}, "elapsed_s": 306.1110165119171}
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|
||||||
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Reference in New Issue
Block a user