From 6d03996da0f9c3e5e107d507d103062a21c035f9 Mon Sep 17 00:00:00 2001 From: Patrick Musau Date: Sat, 2 Apr 2022 12:00:02 -0500 Subject: [PATCH] experiments done --- .../Simplex vs Control Experiments.ipynb | 1886 ++++++++++------- .../collisions_e2e_3_0_1.5_true_cones.csv | 1 - .../UncertaintyExperiments.ipynb | 48 +- 3 files changed, 1105 insertions(+), 830 deletions(-) diff --git a/src/rtreach/logs/aij_experiments/Simplex vs Control Experiments.ipynb b/src/rtreach/logs/aij_experiments/Simplex vs Control Experiments.ipynb index 1a035ff4..e6f94e60 100644 --- a/src/rtreach/logs/aij_experiments/Simplex vs Control Experiments.ipynb +++ b/src/rtreach/logs/aij_experiments/Simplex vs Control Experiments.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 3, + "execution_count": 126, "metadata": {}, "outputs": [], "source": [ @@ -37,7 +37,7 @@ }, { "cell_type": "code", - "execution_count": 74, + "execution_count": 127, "metadata": {}, "outputs": [ { @@ -76,7 +76,7 @@ " 5\n", " 01/04/2022/18:23:04\n", " 0.876521\n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " true\n", @@ -87,7 +87,7 @@ " 6\n", " 01/04/2022/18:25:14\n", " 0.864547\n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " true\n", @@ -98,7 +98,7 @@ " 7\n", " 01/04/2022/18:27:24\n", " 0.876153\n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " true\n", @@ -109,7 +109,7 @@ " 8\n", " 01/04/2022/18:29:35\n", " 0.875509\n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " true\n", @@ -120,7 +120,7 @@ " 9\n", " 01/04/2022/18:31:43\n", " 0.889403\n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " true\n", @@ -142,7 +142,7 @@ " 5\n", " 02/04/2022/03:07:42\n", " 0.191453\n", - " e2e\n", + " Vision Based Network\n", " 3\n", " True\n", " false\n", @@ -153,7 +153,7 @@ " 6\n", " 02/04/2022/03:10:51\n", " 0.187395\n", - " e2e\n", + " Vision Based Network\n", " 3\n", " True\n", " false\n", @@ -164,7 +164,7 @@ " 7\n", " 02/04/2022/03:14:01\n", " 0.148431\n", - " e2e\n", + " Vision Based Network\n", " 3\n", " True\n", " false\n", @@ -175,7 +175,7 @@ " 8\n", " 02/04/2022/03:17:13\n", " 0.235294\n", - " e2e\n", + " Vision Based Network\n", " 3\n", " True\n", " false\n", @@ -186,7 +186,7 @@ " 9\n", " 02/04/2022/03:20:23\n", " 0.178720\n", - " e2e\n", + " Vision Based Network\n", " 3\n", " True\n", " false\n", @@ -199,18 +199,18 @@ "" ], "text/plain": [ - " time_str time_taken_lec controller \\\n", - "5 01/04/2022/18:23:04 0.876521 disparity_extender \n", - "6 01/04/2022/18:25:14 0.864547 disparity_extender \n", - "7 01/04/2022/18:27:24 0.876153 disparity_extender \n", - "8 01/04/2022/18:29:35 0.875509 disparity_extender \n", - "9 01/04/2022/18:31:43 0.889403 disparity_extender \n", - ".. ... ... ... \n", - "5 02/04/2022/03:07:42 0.191453 e2e \n", - "6 02/04/2022/03:10:51 0.187395 e2e \n", - "7 02/04/2022/03:14:01 0.148431 e2e \n", - "8 02/04/2022/03:17:13 0.235294 e2e \n", - "9 02/04/2022/03:20:23 0.178720 e2e \n", + " time_str time_taken_lec controller \\\n", + "5 01/04/2022/18:23:04 0.876521 Dispartiy Extender \n", + "6 01/04/2022/18:25:14 0.864547 Dispartiy Extender \n", + "7 01/04/2022/18:27:24 0.876153 Dispartiy Extender \n", + "8 01/04/2022/18:29:35 0.875509 Dispartiy Extender \n", + "9 01/04/2022/18:31:43 0.889403 Dispartiy Extender \n", + ".. ... ... ... \n", + "5 02/04/2022/03:07:42 0.191453 Vision Based Network \n", + "6 02/04/2022/03:10:51 0.187395 Vision Based Network \n", + "7 02/04/2022/03:14:01 0.148431 Vision Based Network \n", + "8 02/04/2022/03:17:13 0.235294 Vision Based Network \n", + "9 02/04/2022/03:20:23 0.178720 Vision Based Network \n", "\n", " number_of_opponents obstacle_presence regime velocity \\\n", "5 2 False true 0.5 \n", @@ -241,7 +241,7 @@ "[360 rows x 8 columns]" ] }, - "execution_count": 74, + "execution_count": 127, "metadata": {}, "output_type": "execute_result" } @@ -255,6 +255,7 @@ "velocities = [\"0.5\",\"1.0\",\"1.5\"]\n", "velocities_fn = {\"0.5\":\"0.500000\", \"1.0\":\"1.000000\",\"1.5\":\"1.500000\"}\n", "controllers= [\"disparity_extender\",\"pure_pursuit\",\"e2e\"]\n", + "controller_names = {\"disparity_extender\":\"Dispartiy Extender\",\"pure_pursuit\":\"Pure Pursuit\",\"e2e\":\"Vision Based Network\"}\n", "file_str = \"{}_{}_1.000000_{}_{}_0.0_0.0_{}.csv\"\n", "collision_str = \"collisions_{}_{}_{}_{}_{}_cones.csv\"\n", "for cntrl in controllers:\n", @@ -276,7 +277,7 @@ " try:\n", " df = pd.read_csv(fh,header=None).tail(5) # I only want the most recently run experiments here\n", " df =df.rename(columns={0:'time_str',1:'time_taken_lec',2:'time_taken_safety_controller',3:'area'})\n", - " df['controller'] = cntrl\n", + " df['controller'] = controller_names[cntrl]\n", " df['time_taken_lec'] * 100\n", " df['number_of_opponents'] = opp\n", " df['obstacle_presence']= obs>0\n", @@ -304,7 +305,7 @@ }, { "cell_type": "code", - "execution_count": 75, + "execution_count": 128, "metadata": {}, "outputs": [ { @@ -343,7 +344,7 @@ " 5\n", " 01/04/2022/18:33:35\n", " 0.178045\n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " false\n", @@ -354,7 +355,7 @@ " 6\n", " 01/04/2022/18:35:26\n", " 0.173962\n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " false\n", @@ -365,7 +366,7 @@ " 7\n", " 01/04/2022/18:37:19\n", " 0.179240\n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " false\n", @@ -376,7 +377,7 @@ " 8\n", " 01/04/2022/18:39:09\n", " 0.175054\n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " false\n", @@ -387,7 +388,7 @@ " 9\n", " 01/04/2022/18:41:00\n", " 0.174151\n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " false\n", @@ -409,7 +410,7 @@ " 5\n", " 02/04/2022/03:01:25\n", " 0.171429\n", - " e2e\n", + " Vision Based Network\n", " 3\n", " True\n", " true\n", @@ -420,7 +421,7 @@ " 6\n", " 02/04/2022/03:02:10\n", " 0.100000\n", - " e2e\n", + " Vision Based Network\n", " 3\n", " True\n", " true\n", @@ -431,7 +432,7 @@ " 7\n", " 02/04/2022/03:02:55\n", " 0.144737\n", - " e2e\n", + " Vision Based Network\n", " 3\n", " True\n", " true\n", @@ -442,7 +443,7 @@ " 8\n", " 02/04/2022/03:03:39\n", " 0.062500\n", - " e2e\n", + " Vision Based Network\n", " 3\n", " True\n", " true\n", @@ -453,7 +454,7 @@ " 9\n", " 02/04/2022/03:04:32\n", " 0.319444\n", - " e2e\n", + " Vision Based Network\n", " 3\n", " True\n", " true\n", @@ -466,18 +467,18 @@ "" ], "text/plain": [ - " time_str time_taken_lec controller \\\n", - "5 01/04/2022/18:33:35 0.178045 disparity_extender \n", - "6 01/04/2022/18:35:26 0.173962 disparity_extender \n", - "7 01/04/2022/18:37:19 0.179240 disparity_extender \n", - "8 01/04/2022/18:39:09 0.175054 disparity_extender \n", - "9 01/04/2022/18:41:00 0.174151 disparity_extender \n", - ".. ... ... ... \n", - "5 02/04/2022/03:01:25 0.171429 e2e \n", - "6 02/04/2022/03:02:10 0.100000 e2e \n", - "7 02/04/2022/03:02:55 0.144737 e2e \n", - "8 02/04/2022/03:03:39 0.062500 e2e \n", - "9 02/04/2022/03:04:32 0.319444 e2e \n", + " time_str time_taken_lec controller \\\n", + "5 01/04/2022/18:33:35 0.178045 Dispartiy Extender \n", + "6 01/04/2022/18:35:26 0.173962 Dispartiy Extender \n", + "7 01/04/2022/18:37:19 0.179240 Dispartiy Extender \n", + "8 01/04/2022/18:39:09 0.175054 Dispartiy Extender \n", + "9 01/04/2022/18:41:00 0.174151 Dispartiy Extender \n", + ".. ... ... ... \n", + "5 02/04/2022/03:01:25 0.171429 Vision Based Network \n", + "6 02/04/2022/03:02:10 0.100000 Vision Based Network \n", + "7 02/04/2022/03:02:55 0.144737 Vision Based Network \n", + "8 02/04/2022/03:03:39 0.062500 Vision Based Network \n", + "9 02/04/2022/03:04:32 0.319444 Vision Based Network \n", "\n", " number_of_opponents obstacle_presence regime velocity \\\n", "5 2 False false 0.5 \n", @@ -508,7 +509,7 @@ "[150 rows x 8 columns]" ] }, - "execution_count": 75, + "execution_count": 128, "metadata": {}, "output_type": "execute_result" } @@ -533,7 +534,128 @@ }, { "cell_type": "code", - "execution_count": 76, + "execution_count": 149, + "metadata": {}, + "outputs": [], + "source": [ + "sa = dfs[dfs[\"regime\"]==\"true\"]\n", + "sa['time_taken_lec'] = sa['time_taken_lec'] * 100\n", + "#sa = dfs.drop(columns=[\"regime\"])\n", + "res = sa.groupby([\"controller\",\"number_of_opponents\",\"obstacle_presence\",\"velocity\"]).agg([\"mean\",\"std\"]).reset_index()" + ] + }, + { + "cell_type": "code", + "execution_count": 150, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\\begin{tabular}{lrlrrr}\n", + "\\toprule\n", + "{} & number\\_of\\_opponents & velocity & \\multicolumn{2}{l}{time\\_taken\\_lec} & collision\\_percentage \\\\\n", + "{} & mean & std & mean \\\\\n", + "controller & & & & & \\\\\n", + "\\midrule\n", + "Dispartiy Extender & 2 & 0.5 & 87.53 & 0.50 & 0.0 \\\\\n", + "Dispartiy Extender & 2 & 1.0 & 71.02 & 1.21 & 0.0 \\\\\n", + "Dispartiy Extender & 2 & 1.5 & 61.61 & 11.26 & 60.0 \\\\\n", + "Dispartiy Extender & 3 & 0.5 & 90.99 & 0.43 & 0.0 \\\\\n", + "Dispartiy Extender & 3 & 1.0 & 63.56 & 1.06 & 0.0 \\\\\n", + "Dispartiy Extender & 3 & 1.5 & 65.11 & 0.79 & 0.0 \\\\\n", + "Pure Pursuit & 2 & 0.5 & 96.56 & 0.29 & 100.0 \\\\\n", + "Pure Pursuit & 2 & 1.0 & 72.35 & 1.42 & 100.0 \\\\\n", + "Pure Pursuit & 2 & 1.5 & 82.86 & 4.77 & 40.0 \\\\\n", + "Pure Pursuit & 3 & 0.5 & 96.79 & 0.16 & 100.0 \\\\\n", + "Pure Pursuit & 3 & 1.0 & 7.89 & 2.87 & 80.0 \\\\\n", + "Pure Pursuit & 3 & 1.5 & 33.86 & 33.06 & 100.0 \\\\\n", + "Vision Based Network & 2 & 0.5 & 95.36 & 2.83 & 20.0 \\\\\n", + "Vision Based Network & 2 & 1.0 & 75.14 & 9.97 & 100.0 \\\\\n", + "Vision Based Network & 2 & 1.5 & 62.47 & 3.49 & 100.0 \\\\\n", + "Vision Based Network & 3 & 0.5 & 97.49 & 0.56 & 0.0 \\\\\n", + "Vision Based Network & 3 & 1.0 & 37.13 & 25.66 & 80.0 \\\\\n", + "Vision Based Network & 3 & 1.5 & 15.96 & 9.86 & 100.0 \\\\\n", + "\\bottomrule\n", + "\\end{tabular}\n", + "\n" + ] + } + ], + "source": [ + "table1 = res[res[\"obstacle_presence\"]==True].drop(columns=[\"obstacle_presence\"])\n", + "table1 = round(table1[table1.columns[:-1]],2)\n", + "table1 =table1.set_index(\"controller\")\n", + "print(table1.to_latex())" + ] + }, + { + "cell_type": "code", + "execution_count": 153, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\\begin{tabular}{lrrr}\n", + "\\toprule\n", + "{} & \\multicolumn{2}{l}{time\\_taken\\_lec} & collision\\_percentage \\\\\n", + "{} & mean & std & mean \\\\\n", + "\\midrule\n", + "0 & 87.64 & 0.88 & 0.0 \\\\\n", + "1 & 69.21 & 13.32 & 20.0 \\\\\n", + "2 & 71.71 & 1.27 & 20.0 \\\\\n", + "6 & 92.17 & 0.62 & 0.0 \\\\\n", + "7 & 65.84 & 1.58 & 0.0 \\\\\n", + "8 & 66.89 & 1.16 & 20.0 \\\\\n", + "12 & 100.00 & 0.00 & 0.0 \\\\\n", + "13 & 90.43 & 11.93 & 20.0 \\\\\n", + "14 & 94.85 & 0.33 & 0.0 \\\\\n", + "18 & 100.00 & 0.00 & 0.0 \\\\\n", + "19 & 12.14 & 12.19 & 100.0 \\\\\n", + "20 & 73.27 & 34.94 & 40.0 \\\\\n", + "24 & 95.16 & 5.24 & 20.0 \\\\\n", + "25 & 16.85 & 6.09 & 100.0 \\\\\n", + "26 & 24.53 & 2.26 & 100.0 \\\\\n", + "30 & 99.71 & 0.33 & 0.0 \\\\\n", + "31 & 35.99 & 8.47 & 100.0 \\\\\n", + "32 & 11.09 & 1.99 & 100.0 \\\\\n", + "\\bottomrule\n", + "\\end{tabular}\n", + "\n" + ] + } + ], + "source": [ + "table1 = res[res[\"obstacle_presence\"]==False].drop(columns=[\"obstacle_presence\"])\n", + "table1 = round(table1[table1.columns[:-1]],2)\n", + "table1 = table1[table1.columns[3:]]\n", + "#table1 =table1.set_index(\"time_taken_lec\")\n", + "print(table1.to_latex())" + ] + }, + { + "cell_type": "code", + "execution_count": 141, + "metadata": {}, + "outputs": [], + "source": [ + "table1 = res[res[\"obstacle_presence\"]==False].drop(columns=[\"obstacle_presence\"])\n", + "table1 = round(table1[table1.columns[:-1]],2)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Simplex" + ] + }, + { + "cell_type": "code", + "execution_count": 133, "metadata": {}, "outputs": [ { @@ -590,276 +712,276 @@ " \n", " \n", " \n", - " disparity_extender\n", + " Dispartiy Extender\n", " 2\n", " False\n", " 0.5\n", - " 0.876427\n", - " 0.008810\n", - " 0.0\n", + " 0.176090\n", + " 0.002403\n", + " 100.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.692064\n", - " 0.133244\n", - " 20.0\n", + " 0.247274\n", + " 0.009674\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.717144\n", - " 0.012697\n", - " 20.0\n", + " 0.158714\n", + " 0.005560\n", + " 0.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.875328\n", - " 0.004999\n", - " 0.0\n", + " 0.174709\n", + " 0.001057\n", + " 100.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.710232\n", - " 0.012094\n", + " 0.251083\n", + " 0.007225\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.616113\n", - " 0.112636\n", - " 60.0\n", + " 0.157594\n", + " 0.004019\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 3\n", " False\n", " 0.5\n", - " 0.921718\n", - " 0.006190\n", + " 0.715132\n", + " 0.053849\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.658406\n", - " 0.015814\n", + " 0.211217\n", + " 0.007455\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.668865\n", - " 0.011650\n", - " 20.0\n", + " 0.133934\n", + " 0.002743\n", + " 0.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.909887\n", - " 0.004281\n", + " 0.746348\n", + " 0.034836\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.635607\n", - " 0.010552\n", + " 0.206900\n", + " 0.002845\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.651068\n", - " 0.007916\n", + " 0.169297\n", + " 0.079471\n", " 0.0\n", " 0.0\n", " \n", " \n", - " e2e\n", + " Pure Pursuit\n", " 2\n", " False\n", " 0.5\n", - " 0.951636\n", - " 0.052369\n", - " 20.0\n", + " 1.000000\n", + " 0.000000\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.168498\n", - " 0.060921\n", - " 100.0\n", + " 0.883302\n", + " 0.014559\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.245323\n", - " 0.022597\n", - " 100.0\n", + " 0.599391\n", + " 0.005394\n", + " 0.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.953581\n", - " 0.028282\n", - " 20.0\n", + " 0.939474\n", + " 0.001135\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.751367\n", - " 0.099740\n", - " 100.0\n", + " 0.743729\n", + " 0.011271\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.624695\n", - " 0.034869\n", - " 100.0\n", + " 0.625160\n", + " 0.019527\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 3\n", " False\n", " 0.5\n", - " 0.997144\n", - " 0.003340\n", + " 1.000000\n", + " 0.000000\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.359900\n", - " 0.084660\n", - " 100.0\n", + " 0.672382\n", + " 0.183472\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.110916\n", - " 0.019876\n", - " 120.0\n", + " 0.507657\n", + " 0.008811\n", + " 0.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.974949\n", - " 0.005602\n", + " 0.941669\n", + " 0.001088\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.371350\n", - " 0.256616\n", - " 80.0\n", + " 0.605043\n", + " 0.176303\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.159622\n", - " 0.098605\n", - " 100.0\n", + " 0.210414\n", + " 0.003367\n", + " 0.0\n", " 0.0\n", " \n", " \n", - " pure_pursuit\n", + " Vision Based Network\n", " 2\n", " False\n", " 0.5\n", - " 1.000000\n", - " 0.000000\n", + " 0.917066\n", + " 0.046763\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.904349\n", - " 0.119278\n", - " 20.0\n", + " 0.433616\n", + " 0.137780\n", + " 40.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.948548\n", - " 0.003346\n", - " 0.0\n", + " 0.298754\n", + " 0.061784\n", + " 60.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.965559\n", - " 0.002943\n", - " 100.0\n", + " 0.802429\n", + " 0.046159\n", + " 20.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.723505\n", - " 0.014180\n", - " 100.0\n", + " 0.477446\n", + " 0.038083\n", + " 40.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.828641\n", - " 0.047669\n", - " 40.0\n", + " 0.278882\n", + " 0.111555\n", + " 80.0\n", " 0.0\n", " \n", " \n", " 3\n", " False\n", " 0.5\n", - " 1.000000\n", - " 0.000000\n", + " 0.977840\n", + " 0.012410\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.121434\n", - " 0.121921\n", - " 100.0\n", + " 0.406871\n", + " 0.002631\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.732695\n", - " 0.349428\n", - " 40.0\n", + " 0.382537\n", + " 0.128081\n", + " 0.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.967915\n", - " 0.001575\n", - " 100.0\n", + " 0.930162\n", + " 0.021287\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.078915\n", - " 0.028675\n", - " 80.0\n", + " 0.336649\n", + " 0.037380\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.338553\n", - " 0.330618\n", - " 100.0\n", + " 0.188259\n", + " 0.031227\n", + " 0.0\n", " 0.0\n", " \n", " \n", @@ -867,188 +989,187 @@ "" ], "text/plain": [ - " time_taken_lec \\\n", - " mean \n", - "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 0.876427 \n", - " 1.0 0.692064 \n", - " 1.5 0.717144 \n", - " True 0.5 0.875328 \n", - " 1.0 0.710232 \n", - " 1.5 0.616113 \n", - " 3 False 0.5 0.921718 \n", - " 1.0 0.658406 \n", - " 1.5 0.668865 \n", - " True 0.5 0.909887 \n", - " 1.0 0.635607 \n", - " 1.5 0.651068 \n", - "e2e 2 False 0.5 0.951636 \n", - " 1.0 0.168498 \n", - " 1.5 0.245323 \n", - " True 0.5 0.953581 \n", - " 1.0 0.751367 \n", - " 1.5 0.624695 \n", - " 3 False 0.5 0.997144 \n", - " 1.0 0.359900 \n", - " 1.5 0.110916 \n", - " True 0.5 0.974949 \n", - " 1.0 0.371350 \n", - " 1.5 0.159622 \n", - "pure_pursuit 2 False 0.5 1.000000 \n", - " 1.0 0.904349 \n", - " 1.5 0.948548 \n", - " True 0.5 0.965559 \n", - " 1.0 0.723505 \n", - " 1.5 0.828641 \n", - " 3 False 0.5 1.000000 \n", - " 1.0 0.121434 \n", - " 1.5 0.732695 \n", - " True 0.5 0.967915 \n", - " 1.0 0.078915 \n", - " 1.5 0.338553 \n", + " time_taken_lec \\\n", + " mean \n", + "controller number_of_opponents obstacle_presence velocity \n", + "Dispartiy Extender 2 False 0.5 0.176090 \n", + " 1.0 0.247274 \n", + " 1.5 0.158714 \n", + " True 0.5 0.174709 \n", + " 1.0 0.251083 \n", + " 1.5 0.157594 \n", + " 3 False 0.5 0.715132 \n", + " 1.0 0.211217 \n", + " 1.5 0.133934 \n", + " True 0.5 0.746348 \n", + " 1.0 0.206900 \n", + " 1.5 0.169297 \n", + "Pure Pursuit 2 False 0.5 1.000000 \n", + " 1.0 0.883302 \n", + " 1.5 0.599391 \n", + " True 0.5 0.939474 \n", + " 1.0 0.743729 \n", + " 1.5 0.625160 \n", + " 3 False 0.5 1.000000 \n", + " 1.0 0.672382 \n", + " 1.5 0.507657 \n", + " True 0.5 0.941669 \n", + " 1.0 0.605043 \n", + " 1.5 0.210414 \n", + "Vision Based Network 2 False 0.5 0.917066 \n", + " 1.0 0.433616 \n", + " 1.5 0.298754 \n", + " True 0.5 0.802429 \n", + " 1.0 0.477446 \n", + " 1.5 0.278882 \n", + " 3 False 0.5 0.977840 \n", + " 1.0 0.406871 \n", + " 1.5 0.382537 \n", + " True 0.5 0.930162 \n", + " 1.0 0.336649 \n", + " 1.5 0.188259 \n", "\n", - " \\\n", - " std \n", - "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 0.008810 \n", - " 1.0 0.133244 \n", - " 1.5 0.012697 \n", - " True 0.5 0.004999 \n", - " 1.0 0.012094 \n", - " 1.5 0.112636 \n", - " 3 False 0.5 0.006190 \n", - " 1.0 0.015814 \n", - " 1.5 0.011650 \n", - " True 0.5 0.004281 \n", - " 1.0 0.010552 \n", - " 1.5 0.007916 \n", - "e2e 2 False 0.5 0.052369 \n", - " 1.0 0.060921 \n", - " 1.5 0.022597 \n", - " True 0.5 0.028282 \n", - " 1.0 0.099740 \n", - " 1.5 0.034869 \n", - " 3 False 0.5 0.003340 \n", - " 1.0 0.084660 \n", - " 1.5 0.019876 \n", - " True 0.5 0.005602 \n", - " 1.0 0.256616 \n", - " 1.5 0.098605 \n", - "pure_pursuit 2 False 0.5 0.000000 \n", - " 1.0 0.119278 \n", - " 1.5 0.003346 \n", - " True 0.5 0.002943 \n", - " 1.0 0.014180 \n", - " 1.5 0.047669 \n", - " 3 False 0.5 0.000000 \n", - " 1.0 0.121921 \n", - " 1.5 0.349428 \n", - " True 0.5 0.001575 \n", - " 1.0 0.028675 \n", - " 1.5 0.330618 \n", + " \\\n", + " std \n", + "controller number_of_opponents obstacle_presence velocity \n", + "Dispartiy Extender 2 False 0.5 0.002403 \n", + " 1.0 0.009674 \n", + " 1.5 0.005560 \n", + " True 0.5 0.001057 \n", + " 1.0 0.007225 \n", + " 1.5 0.004019 \n", + " 3 False 0.5 0.053849 \n", + " 1.0 0.007455 \n", + " 1.5 0.002743 \n", + " True 0.5 0.034836 \n", + " 1.0 0.002845 \n", + " 1.5 0.079471 \n", + "Pure Pursuit 2 False 0.5 0.000000 \n", + " 1.0 0.014559 \n", + " 1.5 0.005394 \n", + " True 0.5 0.001135 \n", + " 1.0 0.011271 \n", + " 1.5 0.019527 \n", + " 3 False 0.5 0.000000 \n", + " 1.0 0.183472 \n", + " 1.5 0.008811 \n", + " True 0.5 0.001088 \n", + " 1.0 0.176303 \n", + " 1.5 0.003367 \n", + "Vision Based Network 2 False 0.5 0.046763 \n", + " 1.0 0.137780 \n", + " 1.5 0.061784 \n", + " True 0.5 0.046159 \n", + " 1.0 0.038083 \n", + " 1.5 0.111555 \n", + " 3 False 0.5 0.012410 \n", + " 1.0 0.002631 \n", + " 1.5 0.128081 \n", + " True 0.5 0.021287 \n", + " 1.0 0.037380 \n", + " 1.5 0.031227 \n", "\n", - " collision_percentage \\\n", - " mean \n", - "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 0.0 \n", - " 1.0 20.0 \n", - " 1.5 20.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 60.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 20.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - "e2e 2 False 0.5 20.0 \n", - " 1.0 100.0 \n", - " 1.5 100.0 \n", - " True 0.5 20.0 \n", - " 1.0 100.0 \n", - " 1.5 100.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 100.0 \n", - " 1.5 120.0 \n", - " True 0.5 0.0 \n", - " 1.0 80.0 \n", - " 1.5 100.0 \n", - "pure_pursuit 2 False 0.5 0.0 \n", - " 1.0 20.0 \n", - " 1.5 0.0 \n", - " True 0.5 100.0 \n", - " 1.0 100.0 \n", - " 1.5 40.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 100.0 \n", - " 1.5 40.0 \n", - " True 0.5 100.0 \n", - " 1.0 80.0 \n", - " 1.5 100.0 \n", + " collision_percentage \\\n", + " mean \n", + "controller number_of_opponents obstacle_presence velocity \n", + "Dispartiy Extender 2 False 0.5 100.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 100.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 3 False 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + "Pure Pursuit 2 False 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 3 False 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + "Vision Based Network 2 False 0.5 0.0 \n", + " 1.0 40.0 \n", + " 1.5 60.0 \n", + " True 0.5 20.0 \n", + " 1.0 40.0 \n", + " 1.5 80.0 \n", + " 3 False 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", "\n", - " \n", - " std \n", - "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - "e2e 2 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - "pure_pursuit 2 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 " + " \n", + " std \n", + "controller number_of_opponents obstacle_presence velocity \n", + "Dispartiy Extender 2 False 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 3 False 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + "Pure Pursuit 2 False 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 3 False 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + "Vision Based Network 2 False 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " 3 False 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 \n", + " True 0.5 0.0 \n", + " 1.0 0.0 \n", + " 1.5 0.0 " ] }, - "execution_count": 76, + "execution_count": 133, "metadata": {}, "output_type": "execute_result" } ], "source": [ - "sa = dfs[dfs[\"regime\"]==\"true\"]\n", - "#sa = dfs.drop(columns=[\"regime\"])\n", - "sa.groupby([\"controller\",\"number_of_opponents\",\"obstacle_presence\",\"velocity\"]).agg([\"mean\",\"std\"])" + "simplex = dfs[dfs[\"regime\"]==\"false\"]\n", + "simplex.groupby([\"controller\",\"number_of_opponents\",\"obstacle_presence\",\"velocity\"]).agg([\"mean\",\"std\"])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ - "### Simplex" + "### No Simplex" ] }, { "cell_type": "code", - "execution_count": 78, + "execution_count": 82, "metadata": {}, "outputs": [ { @@ -1109,89 +1230,89 @@ " 2\n", " False\n", " 0.5\n", - " 0.176090\n", - " 0.002403\n", - " 100.0\n", + " 0.876427\n", + " 0.008810\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.247274\n", - " 0.009674\n", - " 0.0\n", + " 0.692064\n", + " 0.133244\n", + " 20.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.158714\n", - " 0.005560\n", - " 0.0\n", + " 0.717144\n", + " 0.012697\n", + " 20.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.174709\n", - " 0.001057\n", - " 100.0\n", + " 0.875328\n", + " 0.004999\n", + " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.251083\n", - " 0.007225\n", + " 0.710232\n", + " 0.012094\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.157594\n", - " 0.004019\n", - " 0.0\n", + " 0.616113\n", + " 0.112636\n", + " 60.0\n", " 0.0\n", " \n", " \n", " 3\n", " False\n", " 0.5\n", - " 0.715132\n", - " 0.053849\n", + " 0.921718\n", + " 0.006190\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.211217\n", - " 0.007455\n", + " 0.658406\n", + " 0.015814\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.133934\n", - " 0.002743\n", - " 0.0\n", + " 0.668865\n", + " 0.011650\n", + " 20.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.746348\n", - " 0.034836\n", + " 0.909887\n", + " 0.004281\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.206900\n", - " 0.002845\n", + " 0.635607\n", + " 0.010552\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.169297\n", - " 0.079471\n", + " 0.651068\n", + " 0.007916\n", " 0.0\n", " 0.0\n", " \n", @@ -1200,90 +1321,90 @@ " 2\n", " False\n", " 0.5\n", - " 0.917066\n", - " 0.046763\n", - " 0.0\n", + " 0.951636\n", + " 0.052369\n", + " 20.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.433616\n", - " 0.137780\n", - " 40.0\n", + " 0.168498\n", + " 0.060921\n", + " 100.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.298754\n", - " 0.061784\n", - " 60.0\n", + " 0.245323\n", + " 0.022597\n", + " 100.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.802429\n", - " 0.046159\n", + " 0.953581\n", + " 0.028282\n", " 20.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.477446\n", - " 0.038083\n", - " 40.0\n", + " 0.751367\n", + " 0.099740\n", + " 100.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.278882\n", - " 0.111555\n", - " 80.0\n", + " 0.624695\n", + " 0.034869\n", + " 100.0\n", " 0.0\n", " \n", " \n", " 3\n", " False\n", " 0.5\n", - " 0.977840\n", - " 0.012410\n", + " 0.997144\n", + " 0.003340\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.406871\n", - " 0.002631\n", - " 0.0\n", + " 0.359900\n", + " 0.084660\n", + " 100.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.382537\n", - " 0.128081\n", - " 0.0\n", + " 0.110916\n", + " 0.019876\n", + " 120.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.930162\n", - " 0.021287\n", + " 0.974949\n", + " 0.005602\n", " 0.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.336649\n", - " 0.037380\n", - " 0.0\n", + " 0.371350\n", + " 0.256616\n", + " 80.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.188259\n", - " 0.031227\n", - " 0.0\n", + " 0.159622\n", + " 0.098605\n", + " 100.0\n", " 0.0\n", " \n", " \n", @@ -1298,38 +1419,38 @@ " \n", " \n", " 1.0\n", - " 0.883302\n", - " 0.014559\n", - " 0.0\n", + " 0.904349\n", + " 0.119278\n", + " 20.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.599391\n", - " 0.005394\n", + " 0.948548\n", + " 0.003346\n", " 0.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.939474\n", - " 0.001135\n", - " 0.0\n", + " 0.965559\n", + " 0.002943\n", + " 100.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.743729\n", - " 0.011271\n", - " 0.0\n", + " 0.723505\n", + " 0.014180\n", + " 100.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.625160\n", - " 0.019527\n", - " 0.0\n", + " 0.828641\n", + " 0.047669\n", + " 40.0\n", " 0.0\n", " \n", " \n", @@ -1343,38 +1464,38 @@ " \n", " \n", " 1.0\n", - " 0.672382\n", - " 0.183472\n", - " 0.0\n", + " 0.121434\n", + " 0.121921\n", + " 100.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.507657\n", - " 0.008811\n", - " 0.0\n", + " 0.732695\n", + " 0.349428\n", + " 40.0\n", " 0.0\n", " \n", " \n", " True\n", " 0.5\n", - " 0.941669\n", - " 0.001088\n", - " 0.0\n", + " 0.967915\n", + " 0.001575\n", + " 100.0\n", " 0.0\n", " \n", " \n", " 1.0\n", - " 0.605043\n", - " 0.176303\n", - " 0.0\n", + " 0.078915\n", + " 0.028675\n", + " 80.0\n", " 0.0\n", " \n", " \n", " 1.5\n", - " 0.210414\n", - " 0.003367\n", - " 0.0\n", + " 0.338553\n", + " 0.330618\n", + " 100.0\n", " 0.0\n", " \n", " \n", @@ -1385,122 +1506,122 @@ " time_taken_lec \\\n", " mean \n", "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 0.176090 \n", - " 1.0 0.247274 \n", - " 1.5 0.158714 \n", - " True 0.5 0.174709 \n", - " 1.0 0.251083 \n", - " 1.5 0.157594 \n", - " 3 False 0.5 0.715132 \n", - " 1.0 0.211217 \n", - " 1.5 0.133934 \n", - " True 0.5 0.746348 \n", - " 1.0 0.206900 \n", - " 1.5 0.169297 \n", - "e2e 2 False 0.5 0.917066 \n", - " 1.0 0.433616 \n", - " 1.5 0.298754 \n", - " True 0.5 0.802429 \n", - " 1.0 0.477446 \n", - " 1.5 0.278882 \n", - " 3 False 0.5 0.977840 \n", - " 1.0 0.406871 \n", - " 1.5 0.382537 \n", - " True 0.5 0.930162 \n", - " 1.0 0.336649 \n", - " 1.5 0.188259 \n", + "disparity_extender 2 False 0.5 0.876427 \n", + " 1.0 0.692064 \n", + " 1.5 0.717144 \n", + " True 0.5 0.875328 \n", + " 1.0 0.710232 \n", + " 1.5 0.616113 \n", + " 3 False 0.5 0.921718 \n", + " 1.0 0.658406 \n", + " 1.5 0.668865 \n", + " True 0.5 0.909887 \n", + " 1.0 0.635607 \n", + " 1.5 0.651068 \n", + "e2e 2 False 0.5 0.951636 \n", + " 1.0 0.168498 \n", + " 1.5 0.245323 \n", + " True 0.5 0.953581 \n", + " 1.0 0.751367 \n", + " 1.5 0.624695 \n", + " 3 False 0.5 0.997144 \n", + " 1.0 0.359900 \n", + " 1.5 0.110916 \n", + " True 0.5 0.974949 \n", + " 1.0 0.371350 \n", + " 1.5 0.159622 \n", "pure_pursuit 2 False 0.5 1.000000 \n", - " 1.0 0.883302 \n", - " 1.5 0.599391 \n", - " True 0.5 0.939474 \n", - " 1.0 0.743729 \n", - " 1.5 0.625160 \n", + " 1.0 0.904349 \n", + " 1.5 0.948548 \n", + " True 0.5 0.965559 \n", + " 1.0 0.723505 \n", + " 1.5 0.828641 \n", " 3 False 0.5 1.000000 \n", - " 1.0 0.672382 \n", - " 1.5 0.507657 \n", - " True 0.5 0.941669 \n", - " 1.0 0.605043 \n", - " 1.5 0.210414 \n", + " 1.0 0.121434 \n", + " 1.5 0.732695 \n", + " True 0.5 0.967915 \n", + " 1.0 0.078915 \n", + " 1.5 0.338553 \n", "\n", " \\\n", " std \n", "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 0.002403 \n", - " 1.0 0.009674 \n", - " 1.5 0.005560 \n", - " True 0.5 0.001057 \n", - " 1.0 0.007225 \n", - " 1.5 0.004019 \n", - " 3 False 0.5 0.053849 \n", - " 1.0 0.007455 \n", - " 1.5 0.002743 \n", - " True 0.5 0.034836 \n", - " 1.0 0.002845 \n", - " 1.5 0.079471 \n", - "e2e 2 False 0.5 0.046763 \n", - " 1.0 0.137780 \n", - " 1.5 0.061784 \n", - " True 0.5 0.046159 \n", - " 1.0 0.038083 \n", - " 1.5 0.111555 \n", - " 3 False 0.5 0.012410 \n", - " 1.0 0.002631 \n", - " 1.5 0.128081 \n", - " True 0.5 0.021287 \n", - " 1.0 0.037380 \n", - " 1.5 0.031227 \n", + "disparity_extender 2 False 0.5 0.008810 \n", + " 1.0 0.133244 \n", + " 1.5 0.012697 \n", + " True 0.5 0.004999 \n", + " 1.0 0.012094 \n", + " 1.5 0.112636 \n", + " 3 False 0.5 0.006190 \n", + " 1.0 0.015814 \n", + " 1.5 0.011650 \n", + " True 0.5 0.004281 \n", + " 1.0 0.010552 \n", + " 1.5 0.007916 \n", + "e2e 2 False 0.5 0.052369 \n", + " 1.0 0.060921 \n", + " 1.5 0.022597 \n", + " True 0.5 0.028282 \n", + " 1.0 0.099740 \n", + " 1.5 0.034869 \n", + " 3 False 0.5 0.003340 \n", + " 1.0 0.084660 \n", + " 1.5 0.019876 \n", + " True 0.5 0.005602 \n", + " 1.0 0.256616 \n", + " 1.5 0.098605 \n", "pure_pursuit 2 False 0.5 0.000000 \n", - " 1.0 0.014559 \n", - " 1.5 0.005394 \n", - " True 0.5 0.001135 \n", - " 1.0 0.011271 \n", - " 1.5 0.019527 \n", + " 1.0 0.119278 \n", + " 1.5 0.003346 \n", + " True 0.5 0.002943 \n", + " 1.0 0.014180 \n", + " 1.5 0.047669 \n", " 3 False 0.5 0.000000 \n", - " 1.0 0.183472 \n", - " 1.5 0.008811 \n", - " True 0.5 0.001088 \n", - " 1.0 0.176303 \n", - " 1.5 0.003367 \n", + " 1.0 0.121921 \n", + " 1.5 0.349428 \n", + " True 0.5 0.001575 \n", + " 1.0 0.028675 \n", + " 1.5 0.330618 \n", "\n", " collision_percentage \\\n", " mean \n", "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 100.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 100.0 \n", + "disparity_extender 2 False 0.5 0.0 \n", + " 1.0 20.0 \n", + " 1.5 20.0 \n", + " True 0.5 0.0 \n", " 1.0 0.0 \n", - " 1.5 0.0 \n", + " 1.5 60.0 \n", " 3 False 0.5 0.0 \n", " 1.0 0.0 \n", - " 1.5 0.0 \n", + " 1.5 20.0 \n", " True 0.5 0.0 \n", " 1.0 0.0 \n", " 1.5 0.0 \n", - "e2e 2 False 0.5 0.0 \n", - " 1.0 40.0 \n", - " 1.5 60.0 \n", + "e2e 2 False 0.5 20.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", " True 0.5 20.0 \n", - " 1.0 40.0 \n", - " 1.5 80.0 \n", + " 1.0 100.0 \n", + " 1.5 100.0 \n", " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", + " 1.0 100.0 \n", + " 1.5 120.0 \n", " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", + " 1.0 80.0 \n", + " 1.5 100.0 \n", "pure_pursuit 2 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", + " 1.0 20.0 \n", " 1.5 0.0 \n", + " True 0.5 100.0 \n", + " 1.0 100.0 \n", + " 1.5 40.0 \n", " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", + " 1.0 100.0 \n", + " 1.5 40.0 \n", + " True 0.5 100.0 \n", + " 1.0 80.0 \n", + " 1.5 100.0 \n", "\n", " \n", " std \n", @@ -1543,26 +1664,26 @@ " 1.5 0.0 " ] }, - "execution_count": 78, + "execution_count": 82, "metadata": {}, "output_type": "execute_result" } ], "source": [ - "simplex = dfs[dfs[\"regime\"]==\"false\"]\n", - "simplex.groupby([\"controller\",\"number_of_opponents\",\"obstacle_presence\",\"velocity\"]).agg([\"mean\",\"std\"])" + "no_simplex = dfs[dfs[\"regime\"]==\"true\"]\n", + "no_simplex.groupby([\"controller\",\"number_of_opponents\",\"obstacle_presence\",\"velocity\"]).agg([\"mean\",\"std\"])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ - "### No Simplex" + "### Safety Analysis with Simplex" ] }, { "cell_type": "code", - "execution_count": 70, + "execution_count": 146, "metadata": {}, "outputs": [ { @@ -1581,18 +1702,15 @@ " .dataframe thead tr th {\n", " text-align: left;\n", " }\n", - "\n", - " .dataframe thead tr:last-of-type th {\n", - " text-align: right;\n", - " }\n", "\n", "\n", " \n", " \n", " \n", - " \n", - " \n", - " \n", + " \n", + " \n", + " \n", + " \n", " \n", " \n", " \n", @@ -1601,293 +1719,407 @@ " \n", " \n", " \n", + " \n", " \n", " \n", " \n", " \n", " \n", - " \n", - " \n", - " \n", - " \n", - " \n", - " \n", - " \n", - " \n", - " \n", - " \n", " \n", " \n", " \n", - " \n", - " \n", - " \n", - " \n", - " \n", - " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", " \n", " \n", " \n", " \n", - " \n", - " \n", - " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", " \n", " \n", " \n", " \n", - " \n", - " \n", - " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", " \n", " \n", " \n", " \n", - 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" \n", - " \n", - " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", + " \n", " \n", " \n", " \n", @@ -1896,175 +2128,187 @@ "" ], "text/plain": [ - " time_taken_lec \\\n", - " mean \n", - "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 0.876427 \n", - " 1.0 0.692064 \n", - " 1.5 0.717144 \n", - " True 0.5 0.875328 \n", - " 1.0 0.710232 \n", - " 1.5 0.616113 \n", - " 3 False 0.5 0.921718 \n", - " 1.0 0.658406 \n", - " 1.5 0.668865 \n", - " True 0.5 0.909887 \n", - " 1.0 0.635607 \n", - " 1.5 0.651068 \n", - "e2e 2 False 0.5 0.951636 \n", - " 1.0 0.168498 \n", - " 1.5 0.245323 \n", - " True 0.5 0.953581 \n", - " 1.0 0.751367 \n", - " 1.5 0.624695 \n", - " 3 False 0.5 0.997144 \n", - " 1.0 0.359900 \n", - " 1.5 0.110916 \n", - " True 0.5 0.974949 \n", - " 1.0 0.371350 \n", - " 1.5 0.159622 \n", - "pure_pursuit 2 False 0.5 1.000000 \n", - " 1.0 0.904349 \n", - " 1.5 0.948548 \n", - " True 0.5 0.965559 \n", - " 1.0 0.723505 \n", - " 1.5 0.828641 \n", - " 3 False 0.5 1.000000 \n", - " 1.0 0.121434 \n", - " 1.5 0.732695 \n", - " True 0.5 0.967915 \n", - " 1.0 0.078915 \n", - " 1.5 0.338553 \n", - "\n", - " \\\n", - " std \n", - "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 0.008810 \n", - " 1.0 0.133244 \n", - " 1.5 0.012697 \n", - " True 0.5 0.004999 \n", - " 1.0 0.012094 \n", - " 1.5 0.112636 \n", - " 3 False 0.5 0.006190 \n", - " 1.0 0.015814 \n", - " 1.5 0.011650 \n", - " True 0.5 0.004281 \n", - " 1.0 0.010552 \n", - " 1.5 0.007916 \n", - "e2e 2 False 0.5 0.052369 \n", - " 1.0 0.060921 \n", - " 1.5 0.022597 \n", - " True 0.5 0.028282 \n", - " 1.0 0.099740 \n", - " 1.5 0.034869 \n", - " 3 False 0.5 0.003340 \n", - " 1.0 0.084660 \n", - " 1.5 0.019876 \n", - " True 0.5 0.005602 \n", - " 1.0 0.256616 \n", - " 1.5 0.098605 \n", - "pure_pursuit 2 False 0.5 0.000000 \n", - " 1.0 0.119278 \n", - " 1.5 0.003346 \n", - " True 0.5 0.002943 \n", - " 1.0 0.014180 \n", - " 1.5 0.047669 \n", - " 3 False 0.5 0.000000 \n", - " 1.0 0.121921 \n", - " 1.5 0.349428 \n", - " True 0.5 0.001575 \n", - " 1.0 0.028675 \n", - " 1.5 0.330618 \n", + " controller number_of_opponents obstacle_presence velocity \\\n", + " \n", + "0 Dispartiy Extender 2 False 0.5 \n", + "1 Dispartiy Extender 2 False 1.0 \n", + "2 Dispartiy Extender 2 False 1.5 \n", + "3 Dispartiy Extender 2 True 0.5 \n", + "4 Dispartiy Extender 2 True 1.0 \n", + "5 Dispartiy Extender 2 True 1.5 \n", + "6 Dispartiy Extender 3 False 0.5 \n", + "7 Dispartiy Extender 3 False 1.0 \n", + "8 Dispartiy Extender 3 False 1.5 \n", + "9 Dispartiy Extender 3 True 0.5 \n", + "10 Dispartiy Extender 3 True 1.0 \n", + "11 Dispartiy Extender 3 True 1.5 \n", + "12 Pure Pursuit 2 False 0.5 \n", + "13 Pure Pursuit 2 False 1.0 \n", + "14 Pure Pursuit 2 False 1.5 \n", + "15 Pure Pursuit 2 True 0.5 \n", + "16 Pure Pursuit 2 True 1.0 \n", + "17 Pure Pursuit 2 True 1.5 \n", + "18 Pure Pursuit 3 False 0.5 \n", + "19 Pure Pursuit 3 False 1.0 \n", + "20 Pure Pursuit 3 False 1.5 \n", + "21 Pure Pursuit 3 True 0.5 \n", + "22 Pure Pursuit 3 True 1.0 \n", + "23 Pure Pursuit 3 True 1.5 \n", + "24 Vision Based Network 2 False 0.5 \n", + "25 Vision Based Network 2 False 1.0 \n", + "26 Vision Based Network 2 False 1.5 \n", + "27 Vision Based Network 2 True 0.5 \n", + "28 Vision Based Network 2 True 1.0 \n", + "29 Vision Based Network 2 True 1.5 \n", + "30 Vision Based Network 3 False 0.5 \n", + "31 Vision Based Network 3 False 1.0 \n", + "32 Vision Based Network 3 False 1.5 \n", + "33 Vision Based Network 3 True 0.5 \n", + "34 Vision Based Network 3 True 1.0 \n", + "35 Vision Based Network 3 True 1.5 \n", "\n", - " collision_percentage \\\n", - " mean \n", - "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 100.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 100.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - "e2e 2 False 0.5 0.0 \n", - " 1.0 40.0 \n", - " 1.5 60.0 \n", - " True 0.5 20.0 \n", - " 1.0 40.0 \n", - " 1.5 80.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - "pure_pursuit 2 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - "\n", - " \n", - " std \n", - "controller number_of_opponents obstacle_presence velocity \n", - "disparity_extender 2 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - "e2e 2 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - "pure_pursuit 2 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " 3 False 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 \n", - " True 0.5 0.0 \n", - " 1.0 0.0 \n", - " 1.5 0.0 " + " time_taken_lec collision_percentage \n", + " mean std mean std \n", + "0 17.60904 0.240343 100.0 0.0 \n", + "1 24.72738 0.967352 0.0 0.0 \n", + "2 15.87136 0.556047 0.0 0.0 \n", + "3 17.47088 0.105686 100.0 0.0 \n", + "4 25.10832 0.722466 0.0 0.0 \n", + "5 15.75938 0.401938 0.0 0.0 \n", + "6 71.51322 5.384946 0.0 0.0 \n", + "7 21.12168 0.745534 0.0 0.0 \n", + "8 13.39336 0.274313 0.0 0.0 \n", + "9 74.63482 3.483647 0.0 0.0 \n", + "10 20.69004 0.284459 0.0 0.0 \n", + "11 16.92970 7.947093 0.0 0.0 \n", + "12 100.00000 0.000000 0.0 0.0 \n", + "13 88.33020 1.455864 0.0 0.0 \n", + "14 59.93912 0.539362 0.0 0.0 \n", + "15 93.94738 0.113508 0.0 0.0 \n", + "16 74.37294 1.127115 0.0 0.0 \n", + "17 62.51598 1.952686 0.0 0.0 \n", + "18 100.00000 0.000000 0.0 0.0 \n", + "19 67.23822 18.347192 0.0 0.0 \n", + "20 50.76570 0.881117 0.0 0.0 \n", + "21 94.16690 0.108803 0.0 0.0 \n", + "22 60.50428 17.630349 0.0 0.0 \n", + "23 21.04142 0.336722 0.0 0.0 \n", + "24 91.70662 4.676337 0.0 0.0 \n", + "25 43.36156 13.777978 40.0 0.0 \n", + "26 29.87536 6.178390 60.0 0.0 \n", + "27 80.24292 4.615934 20.0 0.0 \n", + "28 47.74458 3.808279 40.0 0.0 \n", + "29 27.88818 11.155460 80.0 0.0 \n", + "30 97.78396 1.241037 0.0 0.0 \n", + "31 40.68712 0.263077 0.0 0.0 \n", + "32 38.25370 12.808058 0.0 0.0 \n", + "33 93.01624 2.128725 0.0 0.0 \n", + "34 33.66488 3.737987 0.0 0.0 \n", + "35 18.82586 3.122700 0.0 0.0 " ] }, - "execution_count": 70, + "execution_count": 146, "metadata": {}, "output_type": "execute_result" } ], "source": [ - "no_simplex = dfs[dfs[\"regime\"]==\"false\"]\n", - "no_simplex.groupby([\"controller\",\"number_of_opponents\",\"obstacle_presence\",\"velocity\"]).agg([\"mean\",\"std\"])" + "sa = dfs[dfs[\"regime\"]==\"false\"]\n", + "sa['time_taken_lec'] = sa['time_taken_lec'] * 100\n", + "#sa = dfs.drop(columns=[\"regime\"])\n", + "res = sa.groupby([\"controller\",\"number_of_opponents\",\"obstacle_presence\",\"velocity\"]).agg([\"mean\",\"std\"]).reset_index()\n", + "res" + ] + }, + { + "cell_type": "code", + "execution_count": 147, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\\begin{tabular}{lrlrrr}\n", + "\\toprule\n", + "{} & number\\_of\\_opponents & velocity & \\multicolumn{2}{l}{time\\_taken\\_lec} & collision\\_percentage \\\\\n", + "{} & mean & std & mean \\\\\n", + "controller & & & & & \\\\\n", + "\\midrule\n", + "Dispartiy Extender & 2 & 0.5 & 17.47 & 0.11 & 100.0 \\\\\n", + "Dispartiy Extender & 2 & 1.0 & 25.11 & 0.72 & 0.0 \\\\\n", + "Dispartiy Extender & 2 & 1.5 & 15.76 & 0.40 & 0.0 \\\\\n", + "Dispartiy Extender & 3 & 0.5 & 74.63 & 3.48 & 0.0 \\\\\n", + "Dispartiy Extender & 3 & 1.0 & 20.69 & 0.28 & 0.0 \\\\\n", + "Dispartiy Extender & 3 & 1.5 & 16.93 & 7.95 & 0.0 \\\\\n", + "Pure Pursuit & 2 & 0.5 & 93.95 & 0.11 & 0.0 \\\\\n", + "Pure Pursuit & 2 & 1.0 & 74.37 & 1.13 & 0.0 \\\\\n", + "Pure Pursuit & 2 & 1.5 & 62.52 & 1.95 & 0.0 \\\\\n", + "Pure Pursuit & 3 & 0.5 & 94.17 & 0.11 & 0.0 \\\\\n", + "Pure Pursuit & 3 & 1.0 & 60.50 & 17.63 & 0.0 \\\\\n", + "Pure Pursuit & 3 & 1.5 & 21.04 & 0.34 & 0.0 \\\\\n", + "Vision Based Network & 2 & 0.5 & 80.24 & 4.62 & 20.0 \\\\\n", + "Vision Based Network & 2 & 1.0 & 47.74 & 3.81 & 40.0 \\\\\n", + "Vision Based Network & 2 & 1.5 & 27.89 & 11.16 & 80.0 \\\\\n", + "Vision Based Network & 3 & 0.5 & 93.02 & 2.13 & 0.0 \\\\\n", + "Vision Based Network & 3 & 1.0 & 33.66 & 3.74 & 0.0 \\\\\n", + "Vision Based Network & 3 & 1.5 & 18.83 & 3.12 & 0.0 \\\\\n", + "\\bottomrule\n", + "\\end{tabular}\n", + "\n" + ] + } + ], + "source": [ + "table1 = res[res[\"obstacle_presence\"]==True].drop(columns=[\"obstacle_presence\"])\n", + "table1 = round(table1[table1.columns[:-1]],2)\n", + "table1 =table1.set_index(\"controller\")\n", + "print(table1.to_latex())" + ] + }, + { + "cell_type": "code", + "execution_count": 148, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\\begin{tabular}{lrrr}\n", + "\\toprule\n", + "{} & \\multicolumn{2}{l}{time\\_taken\\_lec} & collision\\_percentage \\\\\n", + "{} & mean & std & mean \\\\\n", + "\\midrule\n", + "0 & 17.61 & 0.24 & 100.0 \\\\\n", + "1 & 24.73 & 0.97 & 0.0 \\\\\n", + "2 & 15.87 & 0.56 & 0.0 \\\\\n", + "6 & 71.51 & 5.38 & 0.0 \\\\\n", + "7 & 21.12 & 0.75 & 0.0 \\\\\n", + "8 & 13.39 & 0.27 & 0.0 \\\\\n", + "12 & 100.00 & 0.00 & 0.0 \\\\\n", + "13 & 88.33 & 1.46 & 0.0 \\\\\n", + "14 & 59.94 & 0.54 & 0.0 \\\\\n", + "18 & 100.00 & 0.00 & 0.0 \\\\\n", + "19 & 67.24 & 18.35 & 0.0 \\\\\n", + "20 & 50.77 & 0.88 & 0.0 \\\\\n", + "24 & 91.71 & 4.68 & 0.0 \\\\\n", + "25 & 43.36 & 13.78 & 40.0 \\\\\n", + "26 & 29.88 & 6.18 & 60.0 \\\\\n", + "30 & 97.78 & 1.24 & 0.0 \\\\\n", + "31 & 40.69 & 0.26 & 0.0 \\\\\n", + "32 & 38.25 & 12.81 & 0.0 \\\\\n", + "\\bottomrule\n", + "\\end{tabular}\n", + "\n" + ] + } + ], + "source": [ + "table1 = res[res[\"obstacle_presence\"]==False].drop(columns=[\"obstacle_presence\"])\n", + "table1 = round(table1[table1.columns[:-1]],2)\n", + "table1 = table1[table1.columns[3:]]\n", + "print(table1.to_latex())" ] }, { diff --git a/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.5_true_cones.csv b/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.5_true_cones.csv index 1f588b66..33a33dcb 100644 --- a/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.5_true_cones.csv +++ b/src/rtreach/logs/aij_experiments/collisions_e2e_3_0_1.5_true_cones.csv @@ -1,4 +1,3 @@ -track_porto, 1524, 0, racecar, porto_track, 1 track_porto, 1524, 0, racecar, racecar3, 1 track_porto, 1524, 0, racecar3, racecar, 2 track_porto, 1524, 0, racecar3, racecar, 3 diff --git a/src/rtreach/logs/uncertainty_experiments/UncertaintyExperiments.ipynb b/src/rtreach/logs/uncertainty_experiments/UncertaintyExperiments.ipynb index 048f3200..dd312e3f 100644 --- a/src/rtreach/logs/uncertainty_experiments/UncertaintyExperiments.ipynb +++ b/src/rtreach/logs/uncertainty_experiments/UncertaintyExperiments.ipynb @@ -3,6 +3,7 @@ { "cell_type": "code", "execution_count": 1, + "id": "3c15b318", "metadata": {}, "outputs": [], "source": [ @@ -22,6 +23,7 @@ { "cell_type": "code", "execution_count": 2, + "id": "0991d66c", "metadata": {}, "outputs": [ { @@ -223,16 +225,10 @@ " \n" ] }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [] - }, { "cell_type": "code", "execution_count": 3, + "id": "29e82c5b", "metadata": {}, "outputs": [ { @@ -650,6 +646,7 @@ { "cell_type": "code", "execution_count": 4, + "id": "4ff880d4", "metadata": {}, "outputs": [], "source": [ @@ -663,6 +660,7 @@ { "cell_type": "code", "execution_count": 5, + "id": "29ca773b", "metadata": {}, "outputs": [ { @@ -709,6 +707,7 @@ { "cell_type": "code", "execution_count": 6, + "id": "bd883177", "metadata": {}, "outputs": [ { @@ -743,6 +742,7 @@ { "cell_type": "code", "execution_count": 7, + "id": "afb51e55", "metadata": {}, "outputs": [ { @@ -777,6 +777,7 @@ { "cell_type": "code", "execution_count": 41, + "id": "101182bd", "metadata": {}, "outputs": [ { @@ -1060,6 +1061,7 @@ }, { "cell_type": "markdown", + "id": "79474bae", "metadata": {}, "source": [ "### Ground Truth" @@ -1068,6 +1070,7 @@ { "cell_type": "code", "execution_count": 40, + "id": "08ea18ee", "metadata": {}, "outputs": [ { @@ -1364,6 +1367,7 @@ { "cell_type": "code", "execution_count": 39, + "id": "5dc1bf02", "metadata": {}, "outputs": [ { @@ -1422,6 +1426,7 @@ }, { "cell_type": "markdown", + "id": "02ab3ef4", "metadata": {}, "source": [ "### When you Incorporate Position Uncertainty" @@ -1430,6 +1435,7 @@ { "cell_type": "code", "execution_count": 9, + "id": "95da723c", "metadata": {}, "outputs": [ { @@ -1469,6 +1475,7 @@ }, { "cell_type": "markdown", + "id": "ea56d86d", "metadata": {}, "source": [ "### Both " @@ -1477,6 +1484,7 @@ { "cell_type": "code", "execution_count": 10, + "id": "f33d6921", "metadata": {}, "outputs": [ { @@ -1512,6 +1520,7 @@ { "cell_type": "code", "execution_count": 11, + "id": "6511c8ee", "metadata": {}, "outputs": [ { @@ -1553,6 +1562,7 @@ { "cell_type": "code", "execution_count": 12, + "id": "6c55540d", "metadata": {}, "outputs": [ { @@ -1593,6 +1603,7 @@ }, { "cell_type": "markdown", + "id": "f3da50e3", "metadata": {}, "source": [ "### Experiments Varying Uncertainty and Reachability Horizon" @@ -1601,6 +1612,7 @@ { "cell_type": "code", "execution_count": 13, + "id": "fd415a02", "metadata": {}, "outputs": [], "source": [ @@ -1633,6 +1645,7 @@ { "cell_type": "code", "execution_count": 14, + "id": "9eb17b41", "metadata": {}, "outputs": [ { @@ -1653,6 +1666,7 @@ { "cell_type": "code", "execution_count": 15, + "id": "dfcf3c8d", "metadata": {}, "outputs": [ { @@ -1832,6 +1846,7 @@ { "cell_type": "code", "execution_count": 16, + "id": "a99d874b", "metadata": {}, "outputs": [ { @@ -2017,6 +2032,7 @@ { "cell_type": "code", "execution_count": 17, + "id": "757fe886", "metadata": {}, "outputs": [ { @@ -2131,6 +2147,7 @@ { "cell_type": "code", "execution_count": 18, + "id": "5eea6c1b", "metadata": {}, "outputs": [ { @@ -2179,6 +2196,7 @@ { "cell_type": "code", "execution_count": 19, + "id": "32cc7911", "metadata": {}, "outputs": [ { @@ -2222,6 +2240,7 @@ { "cell_type": "code", "execution_count": 30, + "id": "9d96f424", "metadata": {}, "outputs": [ { @@ -4411,6 +4430,7 @@ { "cell_type": "code", "execution_count": 43, + "id": "1f99f901", "metadata": {}, "outputs": [ { @@ -6597,6 +6617,7 @@ { "cell_type": "code", "execution_count": 21, + "id": "75c539a0", "metadata": {}, "outputs": [ { @@ -6785,6 +6806,7 @@ }, { "cell_type": "markdown", + "id": "9992a4ef", "metadata": {}, "source": [ "### Total Experiments Run " @@ -6792,6 +6814,7 @@ }, { "cell_type": "markdown", + "id": "74ddcf43", "metadata": {}, "source": [ "20 parameter uncertainty configurations, 30 experiments evaluated, 2 localization strategies" @@ -6800,6 +6823,7 @@ { "cell_type": "code", "execution_count": 24, + "id": "35bc657b", "metadata": {}, "outputs": [ { @@ -6819,6 +6843,7 @@ }, { "cell_type": "markdown", + "id": "5ca95e83", "metadata": {}, "source": [ "### Reachtime Experiments " @@ -6826,6 +6851,7 @@ }, { "cell_type": "markdown", + "id": "adc9817b", "metadata": {}, "source": [ "16 reach horizons considered, 20 parameter uncertainty configrations * 10 experiments" @@ -6834,6 +6860,7 @@ { "cell_type": "code", "execution_count": 41, + "id": "b20abe6b", "metadata": {}, "outputs": [ { @@ -6853,6 +6880,7 @@ }, { "cell_type": "markdown", + "id": "fc4a8fa3", "metadata": {}, "source": [ "### Dynamic Obstacle Experiments" @@ -6860,6 +6888,7 @@ }, { "cell_type": "markdown", + "id": "dafeaa36", "metadata": {}, "source": [ "Two configurations of the number of opponents, 9 position uncertainty configurations, 9 velocity uncertainty configurations * 10 experiments each. " @@ -6868,6 +6897,7 @@ { "cell_type": "code", "execution_count": 42, + "id": "c23422c9", "metadata": {}, "outputs": [ { @@ -6888,6 +6918,7 @@ { "cell_type": "code", "execution_count": 44, + "id": "42e1189d", "metadata": {}, "outputs": [ { @@ -6908,6 +6939,7 @@ { "cell_type": "code", "execution_count": null, + "id": "3bbd802d", "metadata": {}, "outputs": [], "source": [] @@ -6929,7 +6961,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.7.3" + "version": "3.6.12" } }, "nbformat": 4,
controllernumber_of_opponentsobstacle_presencevelocitytime_taken_leccollision_percentage
meanstdmeanstd
controllernumber_of_opponentsobstacle_presencevelocity
disparity_extender2False0.50.8764270.0088100Dispartiy Extender2False0.517.609040.240343100.00.0
1.00.6920640.1332441Dispartiy Extender2False1.024.727380.9673520.00.0
1.50.7171440.0126972Dispartiy Extender2False1.515.871360.5560470.00.0
True0.50.8753280.0049993Dispartiy Extender2True0.517.470880.105686100.00.0
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