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parity between best individual runner and run_cmaes #90

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23 changes: 15 additions & 8 deletions cmaes_framework/best_individual_latest.py
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ def get_best_from_all_csvs():
return best_row, best_file


def visualize_best(mode, logs):
def visualize_best(mode, logs, hidden_sizes, input_method):
"""
Continuously run the best individual across all CSVs.
"""
Expand Down Expand Up @@ -94,10 +94,10 @@ def visualize_best(mode, logs):
# Make video directory if we're making a video.
if mode in ["v", "b"]:
os.makedirs(vid_path, exist_ok=True)
run(ITERS, genome, mode, HIDDEN_SIZES, vid_name, vid_path, logs, log_filename)
run(ITERS, genome, mode, hidden_sizes, vid_name, vid_path, logs, log_filename, snn_input_method=input_method)
quit()
elif mode in ["s", "h"]:
run(ITERS, genome, mode, HIDDEN_SIZES, None, None, logs, log_filename)
run(ITERS, genome, mode, hidden_sizes, None, None, logs, log_filename, snn_input_method=input_method)
if logs:
quit()
except Exception as e:
Expand All @@ -109,12 +109,19 @@ def visualize_best(mode, logs):
parser = argparse.ArgumentParser(description='RL')
parser.add_argument(
'--mode', help='mode for output. h-headless , s-screen, v-video, b-both', default="s")
parser.add_argument(
'--mode', #headless, screen, video, both h, s, v, b
help='mode for output. h-headless , s-screen, v-video, b-both',
default="s")
parser.add_argument(
'--logs', type=str, help='whether to generate SNN logs (true/false)', default="True")
parser.add_argument(
'--hidden_sizes',
type=int,
nargs='+',
help='hidden layer sizes for the SNN (default: [2])',
default=[1])
parser.add_argument(
'--input_method',
type=str,
help='input method for the SNN (default: "corners")',
default="corners")


args = parser.parse_args()
Expand All @@ -127,4 +134,4 @@ def visualize_best(mode, logs):
else:
raise argparse.ArgumentTypeError('Boolean value expected.')

visualize_best(args.mode, logs)
visualize_best(args.mode, logs, args.hidden_sizes, args.input_method)
12 changes: 8 additions & 4 deletions cmaes_framework/run_cmaes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ def is_windows():
SNN_INPUT_METHOD_DEFAULT = "corners"
DEFAULT_SCALE_SNN_INPUTS = True

HIDDEN_SIZES = [2]
HIDDEN_SIZES = [1]

VERBOSE = False

Expand Down Expand Up @@ -90,7 +90,7 @@ def run(mode,
robot_config_path)

NUM_ACTUATORS, SNN_INPUT_SHAPE = snn_controller.compute_genome_size(
robot_path, snn_input_method, HIDDEN_SIZES)
robot_path, snn_input_method, hidden_sizes)

# Mean genome
MEAN_ARRAY = [0.0] * SNN_INPUT_SHAPE
Expand Down Expand Up @@ -229,13 +229,17 @@ def run(mode,
parser.add_argument('--hidden_sizes',
type=int,
nargs='+',
default=[2],
default=[1],
help='list of hidden layer sizes')
parser.add_argument('--input_method',
type=str,
default=SNN_INPUT_METHOD_DEFAULT,
help='input method for the SNN (default: "corners")')
args = parser.parse_args()

run(args.mode,
args.gens,
args.sigma,
args.hidden_sizes,
snn_input_method="all_dist",
args.input_method,
scale_snn_inputs=False)