sp
/
Skiing
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

more changes...

add_velocity_into_framework
sp 6 months ago
parent
3fc7278c60
commit
6fce864656
1 changed files with 42 additions and 25 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 67
      rom_evaluate.py

67
rom_evaluate.py
View File

@ -77,6 +77,9 @@ class TestResult:
init_check_opt_min: float
init_check_opt_max: float
init_check_opt_avg: float
safe_states: int
unsafe_states: int
policy_queries: int
def __str__(self):
return f"""Test Result:
init_check_pes_min: {self.init_check_pes_min}
@ -87,7 +90,7 @@ class TestResult:
init_check_opt_avg: {self.init_check_opt_avg}
"""
def csv(self, ws=" "):
return f"{self.init_check_pes_min:0.04f}{ws}{self.init_check_pes_max:0.04f}{ws}{self.init_check_pes_avg:0.04f}{ws}{self.init_check_opt_min:0.04f}{ws}{self.init_check_opt_max:0.04f}{ws}{self.init_check_opt_avg:0.04f}"
return f"{self.init_check_pes_min:0.04f}{ws}{self.init_check_pes_max:0.04f}{ws}{self.init_check_pes_avg:0.04f}{ws}{self.init_check_opt_min:0.04f}{ws}{self.init_check_opt_max:0.04f}{ws}{self.init_check_opt_avg:0.04f}{ws}{self.safeStates}{ws}{self.unsafeStates}{ws}{self.policy_queries}"
def exec(command,verbose=True):
if verbose: print(f"Executing {command}")
@ -128,19 +131,23 @@ def saveObservations(observations, verdict, testDir):
ski_position_counter = {1: (Action.LEFT, 40), 2: (Action.LEFT, 35), 3: (Action.LEFT, 30), 4: (Action.LEFT, 10), 5: (Action.NOOP, 1), 6: (Action.RIGHT, 10), 7: (Action.RIGHT, 30), 8: (Action.RIGHT, 40) }
def run_single_test(ale, nn_wrapper, x,y,ski_position, velocity, duration=50):
#def run_single_test(ale, nn_wrapper, x,y,ski_position, duration=50):
#print(f"Running Test from x: {x:04}, y: {y:04}, ski_position: {ski_position}", end="")
testDir = f"{x}_{y}_{ski_position}_{velocity}"
#testDir = f"{x}_{y}_{ski_position}"
for i, r in enumerate(ramDICT[y]):
ale.setRAM(i,r)
ski_position_setting = ski_position_counter[ski_position]
for i in range(0,ski_position_setting[1]):
ale.act(ski_position_setting[0])
ale.setRAM(14,0)
ale.setRAM(25,x)
ale.setRAM(14,180) # TODO
try:
for i, r in enumerate(ramDICT[y]):
ale.setRAM(i,r)
ski_position_setting = ski_position_counter[ski_position]
for i in range(0,ski_position_setting[1]):
ale.act(ski_position_setting[0])
ale.setRAM(14,0)
ale.setRAM(25,x)
ale.setRAM(14,180) # TODO
except Exception as e:
print(e)
logger.warn(f"Could not run test for x: {x}, y: {y}, ski_position: {ski_position}, velocity: {velocity}")
return (Verdict.INCONCLUSIVE, 0)
num_queries = 0
all_obs = list()
speed_list = list()
resized_obs = cv2.resize(ale.getScreenGrayscale(), (84,84), interpolation=cv2.INTER_AREA)
@ -152,32 +159,33 @@ def run_single_test(ale, nn_wrapper, x,y,ski_position, velocity, duration=50):
if i % 4 == 0:
stack_tensor = TensorDict({"obs": np.array(all_obs[-4:])})
action = nn_wrapper.query(stack_tensor)
num_queries += 1
ale.act(input_to_action(str(action)))
else:
ale.act(input_to_action(str(action)))
speed_list.append(ale.getRAM()[14])
if len(speed_list) > 15 and sum(speed_list[-6:-1]) == 0:
#saveObservations(all_obs, Verdict.BAD, testDir)
return Verdict.BAD
return (Verdict.BAD, num_queries)
#saveObservations(all_obs, Verdict.GOOD, testDir)
return Verdict.GOOD
return (Verdict.GOOD, num_queries)
def computeStateRanking(mdp_file, iteration):
logger.info("Computing state ranking")
tic()
prop = f"filter(min, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], !\"Hit_Tree\" & !\"Hit_Gate\" & !\"Unsafe\" );"
prop += f"filter(max, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], !\"Hit_Tree\" & !\"Hit_Gate\" & !\"Unsafe\" );"
prop += f"filter(avg, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], !\"Hit_Tree\" & !\"Hit_Gate\" & !\"Unsafe\" );"
prop += f"filter(min, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], !\"Hit_Tree\" & !\"Hit_Gate\" & !\"Unsafe\" );"
prop += f"filter(max, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], !\"Hit_Tree\" & !\"Hit_Gate\" & !\"Unsafe\" );"
prop += f"filter(avg, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], !\"Hit_Tree\" & !\"Hit_Gate\" & !\"Unsafe\" );"
prop = f"filter(min, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
prop += f"filter(max, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
prop += f"filter(avg, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
prop += f"filter(min, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
prop += f"filter(max, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
prop += f"filter(avg, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
prop += 'Rmax=? [C <= 200]'
results = list()
try:
command = f"{tempest_binary} --prism {mdp_file} --buildchoicelab --buildstateval --build-all-labels --prop '{prop}'"
output = subprocess.check_output(command, shell=True).decode("utf-8").split('\n')
for line in output:
print(line)
#print(line)
if "Result" in line and not len(results) >= 6:
range_value = re.search(r"(.*:).*\[(-?\d+\.?\d*), (-?\d+\.?\d*)\].*", line)
if range_value:
@ -191,7 +199,7 @@ def computeStateRanking(mdp_file, iteration):
# todo die gracefully if ranking is uniform
print(e.output)
logger.info(f"Computing state ranking - DONE: took {toc()} seconds")
return TestResult(*tuple(results))
return TestResult(*tuple(results),0,0,0)
def fillStateRanking(file_name, match=""):
logger.info(f"Parsing state ranking, {file_name}")
@ -274,6 +282,8 @@ def statesFormulaTrimmed(states):
formula += ")"
formula += ")"
formulas.append(formula)
print(formulas)
sys.exit(1)
return createBalancedDisjunction(formulas)
# https://stackoverflow.com/questions/5389507/iterating-over-every-two-elements-in-a-list
@ -459,8 +469,8 @@ if __name__ == '__main__':
_init_logger()
logger = logging.getLogger('main')
logger.info("Starting")
n_clusters = 40
testAll = False
num_queries = 0
source = "images/1_full_scaled_down.png"
for ski_position in range(1, num_ski_positions + 1):
@ -477,6 +487,10 @@ if __name__ == '__main__':
while True:
updatePrismFile(init_mdp, iteration, safeStates, unsafeStates)
modelCheckingResult = computeStateRanking(f"{init_mdp}_{iteration:03}.prism", iteration)
if len(results) > 0:
modelCheckingResult.safeStates = results[-1].safeStates
modelCheckingResult.unsafeStates = results[-1].unsafeStates
modelCheckingResult.num_queries = results[-1].num_queries
results.append(modelCheckingResult)
logger.info(f"Model Checking Result: {modelCheckingResult}")
if abs(modelCheckingResult.init_check_pes_avg - modelCheckingResult.init_check_opt_avg) < eps:
@ -508,8 +522,8 @@ if __name__ == '__main__':
y = state[0].y
ski_pos = state[0].ski_position
velocity = state[0].velocity
#result = run_single_test(ale,nn_wrapper,x,y,ski_pos, duration=50)
result = run_single_test(ale,nn_wrapper,x,y,ski_pos, velocity, duration=50)
result, num_queries_this_test_case = run_single_test(ale,nn_wrapper,x,y,ski_pos, velocity, duration=50)
num_queries += num_queries_this_test_case
if result == Verdict.BAD:
if testAll:
failingPerCluster[id].append(state)
@ -522,6 +536,9 @@ if __name__ == '__main__':
clusterResult[id] = (cluster, Verdict.GOOD)
safeStates.update([(s[0].x,s[0].y, s[0].ski_position, s[0].velocity) for s in cluster])
logger.info(f"Iteration: {iteration:03}\t-\tSafe Results : {len(safeStates)}\t-\tUnsafe Results:{len(unsafeStates)}")
results[-1].safeStates = len(safeStates)
results[-1].unsafeStates = len(unsafeStates)
results[-1].num_queries = num_queries
if testAll: drawClusters(failingPerCluster, f"failing", iteration)
drawResult(clusterResult, "result", iteration)

Write Preview
Loading…
Cancel
Save