jalf/TIR_PROJ
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Run n3

Browse Source
This commit is contained in:
Johnny Fernandes
2026-04-26 16:42:55 +00:00
parent ad185b4d7e
commit 8110fc3143
15 changed files with 160 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
training/runs/webots_n3.log
+81
View File
@@ -0,0 +1,81 @@
Config loaded from config.json
Config: {'W_PER_SHEEP': 2.0, 'W_ALIGN': 0.05, 'W_PEN_BONUS': 10.0, 'W_COMPLETE': 100.0, 'W_STEP_COST': 0.02, 'W_SOUTH': 0.01, 'W_COMPACT': 0.0, 'W_WALL_TOUCH': 0.0, 'WALL_TOUCH_BUFFER': 0.4, 'ALIGN_SHAPE': 'standoff', 'ALIGN_GATED': True, 'ENTRY_AWARE': True, 'ent_coef': 0.02}
Run dir: runs/webots_n3
Curriculum: 1 → 3 sheep, 1,500,000 steps/stage
[Stage n_sheep=1] training 1,500,000 steps
... [1 sheep | 100,000 steps | ret(last 41)=-22.59 win_sr=15% cum_sr=15%]
... [1 sheep | 200,000 steps | ret(last 50)=-24.68 win_sr=12% cum_sr=13%]
... [1 sheep | 300,000 steps | ret(last 50)=-23.63 win_sr=10% cum_sr=11%]
... [1 sheep | 400,000 steps | ret(last 50)=-18.18 win_sr=12% cum_sr=12%]
... [1 sheep | 500,000 steps | ret(last 50)=+18.15 win_sr=100% cum_sr=37%]
... [1 sheep | 600,000 steps | ret(last 50)=+14.43 win_sr=100% cum_sr=69%]
... [1 sheep | 700,000 steps | ret(last 50)=+14.09 win_sr=100% cum_sr=81%]
... [1 sheep | 800,000 steps | ret(last 50)=+13.60 win_sr=100% cum_sr=87%]
... [1 sheep | 900,000 steps | ret(last 50)=+13.64 win_sr=100% cum_sr=90%]
... [1 sheep | 1,000,000 steps | ret(last 50)=+13.70 win_sr=100% cum_sr=92%]
... [1 sheep | 1,100,000 steps | ret(last 50)=+13.03 win_sr=100% cum_sr=93%]
... [1 sheep | 1,200,000 steps | ret(last 50)=+13.32 win_sr=100% cum_sr=94%]
... [1 sheep | 1,300,000 steps | ret(last 50)=+13.19 win_sr=100% cum_sr=95%]
... [1 sheep | 1,400,000 steps | ret(last 50)=+13.56 win_sr=100% cum_sr=95%]
... [1 sheep | 1,500,000 steps | ret(last 50)=+13.20 win_sr=100% cum_sr=96%]
[Stage n_sheep=1] evaluating 30 eps
[Stage n_sheep=1] sr=80% mean_len=687 mean_min_pen=3.7m mean_act=0.16
failure modes: SUCCESS=24 COMPACT_CANT_DRIVE=6
reward/step: progress=+0.0388 alignment=+0.0002 south=-0.0022 compact=+0.0000 wall_touch=+0.0000 pen_bonus=+0.0117 step_cost=-0.0200 complete=+0.1165
[Stage n_sheep=2] training 1,500,000 steps
... [2 sheep | 1,507,336 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
... [2 sheep | 1,607,336 steps | ret(last 41)=-9.02 win_sr=2% cum_sr=2%]
... [2 sheep | 1,707,336 steps | ret(last 50)=-7.70 win_sr=6% cum_sr=4%]
... [2 sheep | 1,807,336 steps | ret(last 50)=-5.98 win_sr=16% cum_sr=9%]
... [2 sheep | 1,907,336 steps | ret(last 50)=-6.55 win_sr=16% cum_sr=10%]
... [2 sheep | 2,007,336 steps | ret(last 50)=-9.51 win_sr=10% cum_sr=10%]
... [2 sheep | 2,107,336 steps | ret(last 50)=-0.32 win_sr=36% cum_sr=15%]
... [2 sheep | 2,207,336 steps | ret(last 50)=+7.58 win_sr=76% cum_sr=28%]
... [2 sheep | 2,307,336 steps | ret(last 50)=+16.41 win_sr=100% cum_sr=41%]
... [2 sheep | 2,407,336 steps | ret(last 50)=+17.65 win_sr=100% cum_sr=54%]
... [2 sheep | 2,507,336 steps | ret(last 50)=+18.87 win_sr=100% cum_sr=63%]
... [2 sheep | 2,607,336 steps | ret(last 50)=+19.68 win_sr=100% cum_sr=69%]
... [2 sheep | 2,707,336 steps | ret(last 50)=+19.69 win_sr=100% cum_sr=73%]
... [2 sheep | 2,807,336 steps | ret(last 50)=+19.71 win_sr=100% cum_sr=77%]
... [2 sheep | 2,907,336 steps | ret(last 50)=+18.49 win_sr=100% cum_sr=79%]
... [2 sheep | 3,007,336 steps | ret(last 50)=+19.24 win_sr=100% cum_sr=81%]
[Stage n_sheep=2] evaluating 30 eps
[Stage n_sheep=2] sr=100% mean_len=654 mean_min_pen=3.4m mean_act=0.87
failure modes: SUCCESS=30
reward/step: progress=+0.0905 alignment=+0.0136 south=-0.0078 compact=+0.0000 wall_touch=+0.0000 pen_bonus=+0.0306 step_cost=-0.0200 complete=+0.1529
[Stage n_sheep=3] training 1,500,000 steps
... [3 sheep | 3,014,664 steps | ret(last 0)=+nan win_sr=nan% cum_sr=nan%]
... [3 sheep | 3,114,664 steps | ret(last 50)=+25.01 win_sr=100% cum_sr=100%]
... [3 sheep | 3,214,664 steps | ret(last 50)=+23.20 win_sr=98% cum_sr=99%]
... [3 sheep | 3,314,664 steps | ret(last 50)=+24.99 win_sr=100% cum_sr=100%]
... [3 sheep | 3,414,664 steps | ret(last 50)=+24.87 win_sr=100% cum_sr=100%]
... [3 sheep | 3,514,664 steps | ret(last 50)=+24.74 win_sr=100% cum_sr=100%]
... [3 sheep | 3,614,664 steps | ret(last 50)=+21.31 win_sr=100% cum_sr=100%]
... [3 sheep | 3,714,664 steps | ret(last 50)=+22.95 win_sr=98% cum_sr=100%]
... [3 sheep | 3,814,664 steps | ret(last 50)=+23.87 win_sr=100% cum_sr=100%]
... [3 sheep | 3,914,664 steps | ret(last 50)=+23.55 win_sr=100% cum_sr=100%]
... [3 sheep | 4,014,664 steps | ret(last 50)=+26.08 win_sr=100% cum_sr=100%]
... [3 sheep | 4,114,664 steps | ret(last 50)=+24.06 win_sr=100% cum_sr=100%]
... [3 sheep | 4,214,664 steps | ret(last 50)=+24.43 win_sr=100% cum_sr=100%]
... [3 sheep | 4,314,664 steps | ret(last 50)=+21.18 win_sr=96% cum_sr=100%]
... [3 sheep | 4,414,664 steps | ret(last 50)=+23.24 win_sr=100% cum_sr=100%]
... [3 sheep | 4,514,664 steps | ret(last 50)=+23.97 win_sr=100% cum_sr=100%]
[Stage n_sheep=3] evaluating 30 eps
[Stage n_sheep=3] sr=73% mean_len=1270 mean_min_pen=1.8m mean_act=1.12
failure modes: SUCCESS=22 PARTIAL_1of3=8
reward/step: progress=+0.0685 alignment=+0.0103 south=-0.0295 compact=+0.0000 wall_touch=+0.0000 pen_bonus=+0.0194 step_cost=-0.0200 complete=+0.0578
======================================================================
TRAINING SUMMARY
======================================================================
n_sheep=1 sr= 80% len= 687 min_pen= 3.7m act=0.16
n_sheep=2 sr=100% len= 654 min_pen= 3.4m act=0.87
n_sheep=3 sr= 73% len= 1270 min_pen= 1.8m act=1.12
Total time: 23.6 min
Artefacts: runs/webots_n3/
Plots: runs/webots_n3/success_rate.png, runs/webots_n3/eval/
training/runs/webots_n3/config.json
+15
View File
@@ -0,0 +1,15 @@
{
"W_PER_SHEEP": 2.0,
"W_ALIGN": 0.05,
"W_PEN_BONUS": 10.0,
"W_COMPLETE": 100.0,
"W_STEP_COST": 0.02,
"W_SOUTH": 0.01,
"W_COMPACT": 0.0,
"W_WALL_TOUCH": 0.0,
"WALL_TOUCH_BUFFER": 0.4,
"ALIGN_SHAPE": "standoff",
"ALIGN_GATED": true,
"ENTRY_AWARE": true,
"ent_coef": 0.02
}
training/runs/webots_n3/eval/ep_1s_fail.gif
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 1.8 MiB

training/runs/webots_n3/eval/ep_2s_success.gif
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 1.1 MiB

training/runs/webots_n3/eval/ep_3s_success.gif
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 194 KiB

training/runs/webots_n3/eval/traj_1s_fail.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 41 KiB

training/runs/webots_n3/eval/traj_2s_success.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 83 KiB

training/runs/webots_n3/eval/traj_3s_success.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 46 KiB

training/runs/webots_n3/eval/ts_1s_fail.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 74 KiB

training/runs/webots_n3/eval/ts_2s_success.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 204 KiB

training/runs/webots_n3/eval/ts_3s_success.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 131 KiB

training/runs/webots_n3/final_model.zip
BIN
View File
Binary file not shown.
training/runs/webots_n3/stage_results.json
+64
View File
@@ -0,0 +1,64 @@
[
{
"sr": 0.8,
"mean_len": 686.6666666666666,
"mean_min_pen": 3.6629639943440755,
"mean_act": 0.16181865727591677,
"failure_modes": {
"SUCCESS": 24,
"COMPACT_CANT_DRIVE": 6
},
"reward_per_step": {
"progress": 0.03881567865085689,
"alignment": 0.00015139903442241512,
"south": -0.00216557193820928,
"compact": 0.0,
"wall_touch": 0.0,
"pen_bonus": 0.011650485436893204,
"step_cost": -0.019999999999995886,
"complete": 0.11650485436893204
},
"n_sheep": 1
},
{
"sr": 1.0,
"mean_len": 654.0,
"mean_min_pen": 3.4076531132062278,
"mean_act": 0.8715365563710358,
"failure_modes": {
"SUCCESS": 30
},
"reward_per_step": {
"progress": 0.09053953751754566,
"alignment": 0.01356517500879768,
"south": -0.007814150244939332,
"compact": 0.0,
"wall_touch": 0.0,
"pen_bonus": 0.03058103975535168,
"step_cost": -0.01999999999999659,
"complete": 0.1529051987767584
},
"n_sheep": 2
},
{
"sr": 0.7333333333333333,
"mean_len": 1269.6333333333334,
"mean_min_pen": 1.7831791202227274,
"mean_act": 1.1211744887920247,
"failure_modes": {
"SUCCESS": 22,
"PARTIAL_1of3": 8
},
"reward_per_step": {
"progress": 0.06853864337494794,
"alignment": 0.010319892308307451,
"south": -0.029485590403771442,
"compact": 0.0,
"wall_touch": 0.0,
"pen_bonus": 0.01942818136469847,
"step_cost": -0.019999999999989426,
"complete": 0.05775945811126572
},
"n_sheep": 3
}
]
training/runs/webots_n3/success_rate.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 28 KiB

training/runs/webots_n3/vecnorm.pkl
BIN
View File
Binary file not shown.