Skip to content

Commit

Permalink
feat: update saute config and benchmarking results
Browse files Browse the repository at this point in the history
  • Loading branch information
@Gaiejj
Gaiejj committed Sep 4, 2023
1 parent 368f84d commit 02301e9
Show file tree
Hide file tree
Showing 3 changed files with 228 additions and 32 deletions.
108 changes: 76 additions & 32 deletions benchmarks/on-policy/README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1468,14 +1468,14 @@ class="math inline">±</span> 30.93</td>
<tr class="even">
<td style="text-align: left;"><span
class="smallcaps">SafetyCarGoal1-v0</span></td>
<td style="text-align: center;">-0.65 <span class="math inline">±</span>
2.89</td>
<td style="text-align: center;">22.90 <span class="math inline">±</span>
16.85</td>
<td style="text-align: center;">1.89 <span class="math inline">±</span>
3.52</td>
<td style="text-align: center;">4.86 <span class="math inline">±</span>
3.11</td>
<td style="text-align: center;">7.12 <span class="math inline">±</span>
5.41</td>
<td style="text-align: center;">21.68 <span class="math inline">±</span>
29.11</td>
<td style="text-align: center;">16.67 <span class="math inline">±</span>
10.57</td>
<td style="text-align: center;">23.58 <span class="math inline">±</span>
26.39</td>
<td style="text-align: center;">0.81 <span class="math inline">±</span>
0.41</td>
<td style="text-align: center;">17.18 <span class="math inline">±</span>
Expand Down Expand Up @@ -1508,14 +1508,14 @@ class="smallcaps">SafetyCarButton1-v0</span></td>
<tr class="even">
<td style="text-align: left;"><span
class="smallcaps">SafetyCarGoal2-v0</span></td>
<td style="text-align: center;">-0.87 <span class="math inline">±</span>
0.79</td>
<td style="text-align: center;">6.13 <span class="math inline">±</span>
4.51</td>
<td style="text-align: center;">-1.03 <span class="math inline">±</span>
1.46</td>
<td style="text-align: center;">18.07 <span class="math inline">±</span>
11.62</td>
<td style="text-align: center;">0.90 <span class="math inline">±</span>
1.20</td>
<td style="text-align: center;">19.98 <span class="math inline">±</span>
10.12</td>
<td style="text-align: center;">1.76 <span class="math inline">±</span>
5.20</td>
<td style="text-align: center;">31.50 <span class="math inline">±</span>
45.50</td>
<td style="text-align: center;">-0.96 <span class="math inline">±</span>
1.10</td>
<td style="text-align: center;">3.00 <span class="math inline">±</span>
Expand Down Expand Up @@ -1548,14 +1548,14 @@ class="smallcaps">SafetyCarButton2-v0</span></td>
<tr class="even">
<td style="text-align: left;"><span
class="smallcaps">SafetyPointGoal1-v0</span></td>
<td style="text-align: center;">1.99 <span class="math inline">±</span>
2.87</td>
<td style="text-align: center;">7.80 <span class="math inline">±</span>
2.78</td>
<td style="text-align: center;">1.02 <span class="math inline">±</span>
0.80</td>
<td style="text-align: center;">7.46 <span class="math inline">±</span>
5.26</td>
<td style="text-align: center;">7.06 <span class="math inline">±</span>
5.85</td>
<td style="text-align: center;">20.04 <span class="math inline">±</span>
21.91</td>
<td style="text-align: center;">16.18 <span class="math inline">±</span>
9.55</td>
<td style="text-align: center;">29.94 <span class="math inline">±</span>
26.68</td>
<td style="text-align: center;">1.69 <span class="math inline">±</span>
3.25</td>
<td style="text-align: center;">5.34 <span class="math inline">±</span>
Expand Down Expand Up @@ -1588,14 +1588,14 @@ class="smallcaps">SafetyPointButton1-v0</span></td>
<tr class="even">
<td style="text-align: left;"><span
class="smallcaps">SafetyPointGoal2-v0</span></td>
<td style="text-align: center;">-1.85 <span class="math inline">±</span>
0.99</td>
<td style="text-align: center;">21.77 <span class="math inline">±</span>
13.56</td>
<td style="text-align: center;">-1.38 <span class="math inline">±</span>
1.16</td>
<td style="text-align: center;">7.87 <span class="math inline">±</span>
2.02</td>
<td style="text-align: center;">0.84 <span class="math inline">±</span>
2.93</td>
<td style="text-align: center;">14.06 <span class="math inline">±</span>
30.21</td>
<td style="text-align: center;">1.64 <span class="math inline">±</span>
4.02</td>
<td style="text-align: center;">19.00 <span class="math inline">±</span>
34.69</td>
<td style="text-align: center;">-1.13 <span class="math inline">±</span>
0.39</td>
<td style="text-align: center;">7.03 <span class="math inline">±</span>
Expand Down Expand Up @@ -2573,6 +2573,28 @@ class="smallcaps">SafetyPointButton2-v0</span></td>
</tr>
</table>
<table>
<tr>
<td style="text-align:center">
<img style="border-radius: 0.3125em; box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" src="https://github.com/Gaiejj/omnisafe_benchmarks_cruve/blob/main/on-policy/benchmarks/saute_carcircle1_1e7.png">
<br>
<div style="color:orange; border-bottom: 1px solid #d9d9d9; display: inline-block; color: #999; padding: 2px;">
SafetyCarCircle1-v0
</div>
</td>
</tr>
</table>
<table>
<tr>
<td style="text-align:center">
<img style="border-radius: 0.3125em; box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" src="https://github.com/Gaiejj/omnisafe_benchmarks_cruve/blob/main/on-policy/benchmarks/saute_carcircle2_1e7.png">
<br>
<div style="color:orange; border-bottom: 1px solid #d9d9d9; display: inline-block; color: #999; padding: 2px;">
SafetyCarCircle2-v0
</div>
</td>
</tr>
</table>
<table>
<tr>
<td style="text-align:center">
<img style="border-radius: 0.3125em; box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" src="https://github.com/Gaiejj/omnisafe_benchmarks_cruve/blob/main/on-policy/benchmarks/saute_cargoal1_1e7.png">
Expand Down Expand Up @@ -2617,6 +2639,28 @@ class="smallcaps">SafetyPointButton2-v0</span></td>
</tr>
</table>
<table>
<tr>
<td style="text-align:center">
<img style="border-radius: 0.3125em; box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" src="https://github.com/Gaiejj/omnisafe_benchmarks_cruve/blob/main/on-policy/benchmarks/saute_pointcircle1_1e7.png">
<br>
<div style="color:orange; border-bottom: 1px solid #d9d9d9; display: inline-block; color: #999; padding: 2px;">
SafetyPointCircle1-v0
</div>
</td>
</tr>
</table>
<table>
<tr>
<td style="text-align:center">
<img style="border-radius: 0.3125em; box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" src="https://github.com/Gaiejj/omnisafe_benchmarks_cruve/blob/main/on-policy/benchmarks/saute_pointcircle2_1e7.png">
<br>
<div style="color:orange; border-bottom: 1px solid #d9d9d9; display: inline-block; color: #999; padding: 2px;">
SafetyPointCircle2-v0
</div>
</td>
</tr>
</table>
<table>
<tr>
<td style="text-align:center">
<img style="border-radius: 0.3125em; box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" src="https://github.com/Gaiejj/omnisafe_benchmarks_cruve/blob/main/on-policy/benchmarks/saute_pointgoal1_1e7.png">
Expand Down
88 changes: 88 additions & 0 deletions omnisafe/configs/on-policy/PPOSaute.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -126,3 +126,91 @@ defaults:
activation: tanh
# learning rate
lr: 0.0003

SafetyCarCircle1-v0:
# algorithm configurations
algo_cfgs:
# number of iterations to update the policy
update_iters: 80
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyCarCircle2-v0:
# algorithm configurations
algo_cfgs:
# number of iterations to update the policy
update_iters: 80
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyCarGoal1-v0:
# algorithm configurations
algo_cfgs:
# number of iterations to update the policy
update_iters: 80
# normalize observation
obs_normalize: False
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyCarGoal2-v0:
# algorithm configurations
algo_cfgs:
# number of iterations to update the policy
update_iters: 80
# normalize observation
obs_normalize: False
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyPointCircle1-v0:
# algorithm configurations
algo_cfgs:
# number of iterations to update the policy
update_iters: 80
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyPointCircle2-v0:
# algorithm configurations
algo_cfgs:
# number of iterations to update the policy
update_iters: 80
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyPointGoal1-v0:
# algorithm configurations
algo_cfgs:
# number of iterations to update the policy
update_iters: 80
# normalize observation
obs_normalize: False
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyPointGoal2-v0:
# algorithm configurations
algo_cfgs:
# number of iterations to update the policy
update_iters: 80
# normalize observation
obs_normalize: False
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2
64 changes: 64 additions & 0 deletions omnisafe/configs/on-policy/TRPOSaute.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -132,3 +132,67 @@ defaults:
activation: tanh
# learning rate
lr: 0.001

SafetyCarCircle1-v0:
# algorithm configurations
algo_cfgs:
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyCarCircle2-v0:
# algorithm configurations
algo_cfgs:
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyCarGoal1-v0:
# algorithm configurations
algo_cfgs:
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyCarGoal2-v0:
# algorithm configurations
algo_cfgs:
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyPointCircle1-v0:
# algorithm configurations
algo_cfgs:
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyPointCircle2-v0:
# algorithm configurations
algo_cfgs:
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyPointGoal1-v0:
# algorithm configurations
algo_cfgs:
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

SafetyPointGoal2-v0:
# algorithm configurations
algo_cfgs:
# The saute gamma
saute_gamma: 0.9999
# The reward when the agent is unsafe
unsafe_reward: -0.2

0 comments on commit 02301e9

Please sign in to comment.