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update_simulation_setup
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@YaolinGe
YaolinGe committed Sep 5, 2023
1 parent 115acdb commit a9e121c
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37 changes: 24 additions & 13 deletions Publication/src/Agents/AgentMyopic.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
from usr_func.checkfolder import checkfolder
from scipy.stats import norm
from sklearn.metrics import mean_squared_error
from scipy.stats import wasserstein_distance
import numpy as np
import os
from time import time
Expand Down Expand Up @@ -53,10 +54,6 @@ def __init__(self, neighbour_distance: float = 120, weight_eibv: float = 1., wei
self.debug = debug
self.counter = 0

# s5: set up monitoring metrics
self.ibv = []
self.vr = []
self.rmse = []
self.threshold = self.grf.get_threshold()

def run(self, num_steps: int = 5) -> None:
Expand All @@ -65,18 +62,31 @@ def run(self, num_steps: int = 5) -> None:
"""
# start logging the data.
self.trajectory = np.empty([0, 2])
N = self.grf.grid.shape[0]

# self.ibv = np.zeros([num_steps, ])
# self.vr = np.zeros([num_steps, ])
# self.rmse = np.zeros([num_steps, ])
# self.wd = np.zeros([num_steps, ])
self.mu_data = np.zeros([num_steps, N])
self.sigma_data = np.zeros([num_steps, N])
self.mu_truth_data = np.zeros([num_steps, N])

t0 = time()
for i in range(num_steps):
print(" STEP: {} / {}".format(i, num_steps),
" Percentage: ", i / num_steps * 100, "%",
" Time remaining: ", (time() - t0) * (num_steps - i) / 60, " min")
t0 = time()
# s0: update simulation data
ibv, vr, rmse = self.update_metrics()
self.ibv.append(ibv)
self.vr.append(vr)
self.rmse.append(rmse)
# s0: update simulation data and save the updated data.
mu, sigma_diag, mu_truth = self.update_metrics()
# self.ibv[i] = ibv
# self.vr[i] = vr
# self.rmse[i] = rmse
# self.wd[i] = wd
self.mu_data[i, :] = mu.flatten()
self.sigma_data[i, :] = sigma_diag.flatten()
self.mu_truth_data[i, :] = mu_truth.flatten()

if self.debug:
self.ap.plot_agent()
Expand All @@ -97,11 +107,12 @@ def run(self, num_steps: int = 5) -> None:
def update_metrics(self) -> tuple:
mu = self.grf.get_mu()
sigma_diag = np.diag(self.grf.get_covariance_matrix())
ibv = self.get_ibv(self.threshold, mu, sigma_diag)
# ibv = self.get_ibv(self.threshold, mu, sigma_diag)
mu_truth = self.auv.ctd.get_salinity_at_dt_loc(dt=0, loc=self.grf.grid)
rmse = mean_squared_error(mu_truth, mu, squared=False)
vr = np.sum(sigma_diag)
return ibv, vr, rmse
# rmse = mean_squared_error(mu_truth, mu, squared=False)
# vr = np.sum(sigma_diag)
# wd = wasserstein_distance(mu_truth, mu.flatten())
return mu, sigma_diag, mu_truth

def get_ibv(self, threshold, mu, sigma_diag) -> np.ndarray:
""" !!! Be careful with dimensions, it can lead to serious problems.
Expand Down
24 changes: 12 additions & 12 deletions Publication/src/Agents/AgentRRTStar.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,10 +57,6 @@ def __init__(self, neighbour_distance: float = 120, weight_eibv: float = 1., wei
self.ap = AgentPlotRRTStar(self, figpath)
self.counter = 0

# s5: set up monitoring metrics
self.ibv = []
self.vr = []
self.rmse = []
self.threshold = self.grf.get_threshold()

def run(self, num_steps: int = 5) -> None:
Expand All @@ -69,6 +65,10 @@ def run(self, num_steps: int = 5) -> None:
"""
# start logging the data.
self.trajectory = np.empty([0, 2])
N = self.grf.grid.shape[0]
self.mu_data = np.zeros([num_steps, N])
self.sigma_data = np.zeros([num_steps, N])
self.mu_truth_data = np.zeros([num_steps, N])

t0 = time()
for i in range(num_steps):
Expand All @@ -77,10 +77,10 @@ def run(self, num_steps: int = 5) -> None:
" Time remaining: ", (time() - t0) * (num_steps - i) / 60, " min")
t0 = time()
# s0: update simulation data
ibv, vr, rmse = self.update_metrics()
self.ibv.append(ibv)
self.vr.append(vr)
self.rmse.append(rmse)
mu, sigma_diag, mu_truth = self.update_metrics()
self.mu_data[i, :] = mu.flatten()
self.sigma_data[i, :] = sigma_diag.flatten()
self.mu_truth_data[i, :] = mu_truth.flatten()

if self.debug:
self.ap.plot_agent()
Expand All @@ -105,11 +105,11 @@ def run(self, num_steps: int = 5) -> None:
def update_metrics(self) -> tuple:
mu = self.grf.get_mu()
sigma_diag = np.diag(self.grf.get_covariance_matrix())
ibv = self.get_ibv(self.threshold, mu, sigma_diag)
# ibv = self.get_ibv(self.threshold, mu, sigma_diag)
mu_truth = self.auv.ctd.get_salinity_at_dt_loc(dt=0, loc=self.grf.grid) # dt=0 is cuz it is updated before
rmse = mean_squared_error(mu_truth, mu, squared=False)
vr = np.sum(sigma_diag)
return ibv, vr, rmse
# rmse = mean_squared_error(mu_truth, mu, squared=False)
# vr = np.sum(sigma_diag)
return mu, sigma_diag, mu_truth

def get_ibv(self, threshold, mu, sigma_diag) -> np.ndarray:
""" !!! Be careful with dimensions, it can lead to serious problems.
Expand Down
2 changes: 1 addition & 1 deletion Publication/src/Config.py
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Expand Up @@ -56,7 +56,7 @@ def __init__(self) -> None:
self.__budget_mode = False

""" Default simulation parameter seteup. """
self.__num_steps = 240 # number of steps.
self.__num_steps = 10 # number of steps.
self.__num_replicates = 3 # number of replicates
self.__num_cores = 3 # number of cores to use

Expand Down
11 changes: 7 additions & 4 deletions Publication/src/Simulators/Simulator_Myopic2D.py
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Expand Up @@ -34,8 +34,11 @@ def run_all(self, num_steps: int = 10) -> None:

def extract_data_for_agent(self, agent: 'Agent' = None) -> tuple:
traj = agent.trajectory
ibv = np.array(agent.ibv).reshape(-1, 1)
vr = np.array(agent.vr).reshape(-1, 1)
rmse = np.array(agent.rmse).reshape(-1, 1)
return traj, ibv, vr, rmse
mu_data = agent.mu_data
sigma_data = agent.sigma_data
mu_truth_data = agent.mu_truth_data
# ibv = np.array(agent.ibv).reshape(-1, 1)
# vr = np.array(agent.vr).reshape(-1, 1)
# rmse = np.array(agent.rmse).reshape(-1, 1)
return traj, mu_data, sigma_data, mu_truth_data

11 changes: 7 additions & 4 deletions Publication/src/Simulators/Simulator_RRTStar.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,11 @@ def run_all(self, num_steps: int = 10) -> None:

def extract_data_for_agent(self, agent: 'Agent' = None) -> tuple:
traj = agent.trajectory
ibv = np.array(agent.ibv).reshape(-1, 1)
vr = np.array(agent.vr).reshape(-1, 1)
rmse = np.array(agent.rmse).reshape(-1, 1)
return traj, ibv, vr, rmse
# ibv = np.array(agent.ibv).reshape(-1, 1)
# vr = np.array(agent.vr).reshape(-1, 1)
# rmse = np.array(agent.rmse).reshape(-1, 1)
mu_data = agent.mu_data
sigma_data = agent.sigma_data
mu_truth_data = agent.mu_truth_data
return traj, mu_data, sigma_data, mu_truth_data

158 changes: 69 additions & 89 deletions Publication/src/cv_sim_result.ipynb
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Expand Up @@ -5,7 +5,7 @@
"id": "f094b695",
"metadata": {},
"source": [
"# Simulation result analysis \n",
"# Paper Simulation result analysis \n",
"\n",
"- All replicate results are saved separately, check if they share some commonality\n"
]
Expand All @@ -28,91 +28,12 @@
"name": "stdout",
"output_type": "stream",
"text": [
"['sigma_10_nuggget_04', 'R_000', 'R_038', 'R_007', 'R_031', '.DS_Store', 'R_009', 'R_036', 'R_062', 'R_065', 'R_053', 'R_054', 'R_008', 'R_037', 'R_030', 'R_039', 'R_006', 'R_001', 'R_055', 'R_052', 'R_064', 'R_063', 'R_041', 'R_079', 'R_046', 'R_070', 'R_048', 'R_077', 'R_023', 'R_024', 'R_012', 'R_015', 'R_049', 'R_076', 'R_071', 'R_078', 'R_047', 'R_040', 'R_014', 'R_013', 'R_025', 'R_022', 'R_066', 'R_059', 'R_061', 'R_057', 'R_068', 'R_050', 'R_004', 'R_003', 'R_035', 'R_032', 'R_051', 'R_056', 'R_069', 'R_060', 'R_067', 'R_058', 'R_033', 'R_034', 'R_002', 'R_005', 'R_027', 'R_018', 'R_020', 'R_016', 'R_029', 'R_011', 'R_045', 'R_042', 'R_074', 'R_073', 'R_010', 'R_017', 'R_028', 'R_021', 'R_026', 'R_019', 'R_072', 'R_075', 'R_043', 'R_044', 'Test30']\n",
"['R30test']\n",
"['R_000', 'R_001', 'R_002']\n",
"['.DS_Store', 'sigma_01', 'GRFrange700', 'up_startloc', 'GRFRange200', 'R30test']\n",
"total 0\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:00 R_000\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:00 R_001\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:00 R_002\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:00 R_003\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:00 R_004\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:00 R_005\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_006\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_007\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_008\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_009\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_010\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_011\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_012\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_013\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_014\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_015\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_016\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_017\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_018\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_019\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_020\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_021\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_022\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_023\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_024\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_025\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_026\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_027\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_028\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_029\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_030\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_031\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_032\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_033\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_034\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_035\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_036\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_037\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_038\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_039\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_040\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_041\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_042\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_043\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_044\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_045\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_046\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_047\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_048\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_049\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_050\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_051\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_052\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_053\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_054\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_055\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_056\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_057\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_058\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_059\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_060\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_061\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_062\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_063\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_064\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_065\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_066\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_067\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_068\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_069\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_070\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_071\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_072\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_073\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_074\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_075\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_076\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_077\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_078\n",
"drwx------ 4 yaolin staff 128B Mar 10 14:01 R_079\n",
"drwxr-xr-x 32 yaolin staff 1.0K Mar 9 09:00 Test30\n",
"drwxr-xr-x 82 yaolin staff 2.6K Mar 10 13:58 sigma_10_nuggget_04\n"
"drwxr-xr-x 3 yaolin staff 96B Sep 5 11:41 R_000\n",
"drwxr-xr-x 3 yaolin staff 96B Sep 5 11:41 R_001\n",
"drwxr-xr-x 3 yaolin staff 96B Sep 5 11:41 R_002\n"
]
},
{
Expand All @@ -139,7 +60,7 @@
"plt.rcParams[\"font.family\"] = \"Times New Roman\"\n",
"plt.rcParams[\"font.size\"] = 20\n",
"\n",
"filepath = \"./npy/analytical/\"\n",
"filepath = \"./npy/temporal/\"\n",
"print(os.listdir(filepath))\n",
"\n",
"figpath = os.getcwd() + \"/../../../../OneDrive - NTNU/MASCOT_PhD/Projects/GOOGLE/Docs/fig/Sim_2DNidelva/Simulator/AnalyticalEIBV/\"\n",
Expand All @@ -154,6 +75,63 @@
"os.system(\"ls -lh \" + filepath)"
]
},
{
"cell_type": "code",
"execution_count": 10,
"id": "d684d799",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Number of replicates: 3\n"
]
}
],
"source": [
"Simulators = [\"SimulatorRRTStar\", \"SimulatorMyopic2D\"]\n",
"sigmas_nuggets = np.array([[1., .25]])\n",
"replicates = os.listdir(filepath)\n",
"Nrep = 0\n",
"for rep in replicates: \n",
" if rep.startswith(\"R_\"): \n",
" Nrep += 1\n",
"print(\"Number of replicates: \", Nrep)\n",
"\n",
"sigma = 1. \n",
"nugget = .25\n",
"simulator = \n",
"for i in range(Nrep):\n",
" rep = \"R_{:03d}\".format(i)\n",
" string = \"/sigma_{:02d}/\".format(int(10*sigma)) + \"nugget_{:03d}/\".format(int(100*nugget)) + simulator + \"/\"\n",
" datapath = filepath + rep + string\n",
"\n",
"\n",
"\n",
" traj = np.empty([0, 3, num_steps, 2])\n",
" ibv = np.empty([0, 3, num_steps])\n",
" rmse = np.empty([0, 3, num_steps])\n",
" vr = np.empty([0, 3, num_steps])\n",
"\n",
"\n",
" r_traj = np.load(datapath + \"traj.npy\").reshape(1, 3, num_steps, 2)\n",
" r_ibv = np.load(datapath + \"ibv.npy\").reshape(1, 3, num_steps)\n",
" r_vr = np.load(datapath + \"vr.npy\").reshape(1, 3, num_steps)\n",
" r_rmse = np.load(datapath + \"rmse.npy\").reshape(1, 3, num_steps)\n",
"\n",
" traj = np.append(traj, r_traj, axis=0)\n",
" ibv = np.append(ibv, r_ibv, axis=0)\n",
" vr = np.append(vr, r_vr, axis=0)\n",
" rmse = np.append(rmse, r_rmse, axis=0)\n",
"\n",
" savefig = figpath[:-1] + string\n",
" checkfolder(savefig)\n",
"\n",
" for i in tqdm(range(traj.shape[2])):\n",
" plotf(i, \"sigma: {:.1f}, nugget: {:.2f}, simulator: {:s}\".format(sigma, nugget, simulator), filename=savefig + \"P_{:03d}.png\".format(i))\n"
]
},
{
"cell_type": "code",
"execution_count": 3,
Expand Down Expand Up @@ -194,8 +172,8 @@
"# sigmas = [1.]\n",
"# nuggets = [.4]\n",
"\n",
"sigmas = [.1]\n",
"nuggets = [.01]\n",
"sigmas = [1.]\n",
"nuggets = [.25]\n",
"\n",
"replicates = os.listdir(filepath)\n",
"Nrep = 0\n",
Expand Down Expand Up @@ -374,7 +352,9 @@
" encoder : Lavc59.37.100 libx264\n",
" Side data:\n",
" cpb: bitrate max/min/avg: 0/0/0 buffer size: 0 vbv_delay: N/A\n",
"frame= 94 fps= 10 q=22.0 size= 1280kB time=00:00:03.20 bitrate=3276.8kbits/s speed=0.35x \r\r frame= 76 fps= 10 q=22.0 size= 768kB time=00:00:01.40 bitrate=4493.9kbits/s speed=0.188x frame= 88 fps= 10 q=22.0 size= 1024kB time=00:00:02.60 bitrate=3226.4kbits/s speed=0.302x frame= 100 fps=9.7 q=-1.0 Lsize= 3189kB time=00:00:09.70 bitrate=2693.4kbits/s speed=0.943x \n",
"frame= 94 fps= 10 q=22.0 size= 1280kB time=00:00:03.20 bitrate=3276.8kbits/s speed=0.35x \r",
"\r",
" frame= 76 fps= 10 q=22.0 size= 768kB time=00:00:01.40 bitrate=4493.9kbits/s speed=0.188x frame= 88 fps= 10 q=22.0 size= 1024kB time=00:00:02.60 bitrate=3226.4kbits/s speed=0.302x frame= 100 fps=9.7 q=-1.0 Lsize= 3189kB time=00:00:09.70 bitrate=2693.4kbits/s speed=0.943x \n",
"video:3187kB audio:0kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: 0.059531%\n",
"[libx264 @ 0x131e06440] frame I:1 Avg QP: 7.07 size:591994\n",
"[libx264 @ 0x131e06440] frame P:57 Avg QP:16.21 size: 41408\n",
Expand Down
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