Updating requirements, changing noise statistics, defining all challe…

…nges
gibernas · Feb 15, 2020 · 4cee8f4 · 4cee8f4
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Showing 11 changed files with 211 additions and 51 deletions.
diff --git a/LF_eD.challenge.yaml b/LF_eD.challenge.yaml
@@ -0,0 +1,42 @@
+challenge: gb-eD
+
+title: "gb-eD  "
+tags: [gb]
+description: |
+  Randomized dynamics
+
+protocol: aido2_db18_agent-z2
+
+date-open: 2020-02-13T00:00Z
+date-close: 2020-02-16T13:00Z
+
+
+
+
+scoring: !include scoring.yaml
+
+steps:
+  step1-simulation:
+    title: Simulation step
+    description: ""
+    features_required:
+      compute_sims: 1 # computation machine
+
+    timeout: 3600 # 1 hour
+    evaluation_parameters:
+      services:
+        evaluator: !include comp_evaluator.yaml
+        simulator: !include comp_simulator_eD.yaml
+        solution: !include comp_solution.yaml
+
+        scenario_maker:
+          environment:
+            AIDONODE_DATA_IN: /fifos/scenario_maker-in
+            AIDONODE_DATA_OUT: fifo:/fifos/scenario_maker-out
+            AIDONODE_CONFIG: |
+              maps:
+              - ETHZ_autolab_technical_track
+              scenarios_per_map: 10
+              robots_npcs: 0
+          build:
+            context: ./scenario_maker
diff --git a/LF_eDI.challenge.yaml b/LF_eDI.challenge.yaml
@@ -0,0 +1,42 @@
+challenge: gb-eDI
+
+title: "gb-eDI  "
+tags: [gb]
+description: |
+  Dynamics and image randomization
+
+protocol: aido2_db18_agent-z2
+
+date-open: 2020-02-13T00:00Z
+date-close: 2020-02-16T13:00Z
+
+
+
+
+scoring: !include scoring.yaml
+
+steps:
+  step1-simulation:
+    title: Simulation step
+    description: ""
+    features_required:
+      compute_sims: 1 # computation machine
+
+    timeout: 3600 # 1 hour
+    evaluation_parameters:
+      services:
+        evaluator: !include comp_evaluator.yaml
+        simulator: !include comp_simulator_eDI.yaml
+        solution: !include comp_solution.yaml
+
+        scenario_maker:
+          environment:
+            AIDONODE_DATA_IN: /fifos/scenario_maker-in
+            AIDONODE_DATA_OUT: fifo:/fifos/scenario_maker-out
+            AIDONODE_CONFIG: |
+              maps:
+              - ETHZ_autolab_technical_track
+              scenarios_per_map: 10
+              robots_npcs: 0
+          build:
+            context: ./scenario_maker
diff --git a/LF_eI.challenge.yaml b/LF_eI.challenge.yaml
@@ -0,0 +1,42 @@
+challenge: gb-eI
+
+title: "gb-eI"
+tags: [gb]
+description: |
+  Image randomization
+
+protocol: aido2_db18_agent-z2
+
+date-open: 2020-02-13T00:00Z
+date-close: 2020-02-16T13:00Z
+
+
+
+
+scoring: !include scoring.yaml
+
+steps:
+  step1-simulation:
+    title: Simulation step
+    description: ""
+    features_required:
+      compute_sims: 1 # computation machine
+
+    timeout: 3600 # 1 hour
+    evaluation_parameters:
+      services:
+        evaluator: !include comp_evaluator.yaml
+        simulator: !include comp_simulator_eI.yaml
+        solution: !include comp_solution.yaml
+
+        scenario_maker:
+          environment:
+            AIDONODE_DATA_IN: /fifos/scenario_maker-in
+            AIDONODE_DATA_OUT: fifo:/fifos/scenario_maker-out
+            AIDONODE_CONFIG: |
+              maps:
+              - ETHZ_autolab_technical_track
+              scenarios_per_map: 10
+              robots_npcs: 0
+          build:
+            context: ./scenario_maker
diff --git a/LF_rand.challenge.yaml → LF_eV.challenge.yaml b/LF_rand.challenge.yaml → LF_eV.challenge.yaml
@@ -1,14 +1,14 @@
-challenge: gb-01
+challenge: gb-eV
 
-title: "gb-01  "
+title: "gb-eV  "
 tags: [gb]
 description: |
-  Test
+  Vanilla environment
 
 protocol: aido2_db18_agent-z2
 
 date-open: 2020-02-13T00:00Z
-date-close: 2020-02-14T13:00Z
+date-close: 2020-02-16T13:00Z
 
 
 
@@ -26,7 +26,7 @@ steps:
     evaluation_parameters:
       services:
         evaluator: !include comp_evaluator.yaml
-        simulator: !include comp_simulator_rand.yaml
+        simulator: !include comp_simulator.yaml
         solution: !include comp_solution.yaml
 
         scenario_maker:
@@ -36,7 +36,7 @@ steps:
             AIDONODE_CONFIG: |
               maps:
               - ETHZ_autolab_technical_track
-              scenarios_per_map: 1
+              scenarios_per_map: 10
               robots_npcs: 0
           build:
             context: ./scenario_maker
diff --git a/Makefile b/Makefile
@@ -1,55 +1,40 @@
-define-challenge:
-	$(MAKE) define-challenge-LF
-	$(MAKE) define-challenge-LFV
-	$(MAKE) define-challenge-LFVI
-	$(MAKE) define-challenge-LF_test
-	$(MAKE) define-challenge-LFV_test
-	$(MAKE) define-challenge-LFVI_test
+define-gb-challenges:
+	$(MAKE) define-gb-challenge-eV
+	$(MAKE) define-gb-challenge-eD
+	$(MAKE) define-gb-challenge-eI
+	$(MAKE) define-gb-challenge-eDI
 
-define-challenge-no-cache:
-	$(MAKE) define-challenge-LF-no-cache
-	$(MAKE) define-challenge-LFV-no-cache
-	$(MAKE) define-challenge-LFVI-no-cache
-	$(MAKE) define-challenge-LF_test-no-cache
-	$(MAKE) define-challenge-LFV_test-no-cache
-	$(MAKE) define-challenge-LFVI_test-no-cache
+define-gb-challenges-no-cache:
+	$(MAKE) define-gb-challenge-eV-no-cache
+	$(MAKE) define-gb-challenge-eD-no-cache
+	$(MAKE) define-gb-challenge-eI-no-cache
+	$(MAKE) define-gb-challenge-eDI-no-cache
 
-define-challenge-LF:
-	dts challenges define --config LF.challenge.yaml
 
-define-challenge-LFV:
-	dts challenges define --config LFV.challenge.yaml
+define-gb-challenge-eV:
+	dts challenges define --config LF_eV.challenge.yaml
 
-define-challenge-LFVI:
-	dts challenges define --config LFVI.challenge.yaml
+define-gb-challenge-eD:
+	dts challenges define --config LF_eD.challenge.yaml
 
-define-challenge-LF_test:
-	dts challenges define --config LF_test.challenge.yaml
+define-gb-challenge-eI:
+	dts challenges define --config LF_eI.challenge.yaml
 
-define-challenge-LFV_test:
-	dts challenges define --config LFV_test.challenge.yaml
+define-gb-challenge-eDI:
+	dts challenges define --config LF_eDI.challenge.yaml
 
-define-challenge-LFVI_test:
-	dts challenges define --config LFVI_test.challenge.yaml
 
-define-challenge-LF-no-cache:
-	dts challenges define --config LF.challenge.yaml  --no-cache
+define-gb-challenge-eV-no-cache:
+	dts challenges define --config LF_eV.challenge.yaml --no-cache
 
-define-challenge-LFV-no-cache:
-	dts challenges define --config LFV.challenge.yaml  --no-cache
+define-gb-challenge-eD-no-cache:
+	dts challenges define --config LF_eD.challenge.yaml --no-cache
 
-define-challenge-LFVI-no-cache:
-	dts challenges define --config LFVI.challenge.yaml  --no-cache
+define-gb-challenge-eI-no-cache:
+	dts challenges define --config LF_eI.challenge.yaml --no-cache
 
-
-define-challenge-LF_test-no-cache:
-	dts challenges define --config LF_test.challenge.yaml  --no-cache
-
-define-challenge-LFV_test-no-cache:
-	dts challenges define --config LFV_test.challenge.yaml  --no-cache
-
-define-challenge-LFVI_test-no-cache:
-	dts challenges define --config LFVI_test.challenge.yaml  --no-cache
+define-gb-challenge-eDI-no-cache:
+	dts challenges define --config LF_eDI.challenge.yaml --no-cache
 
 
 test-with-local-repos:

diff --git a/comp_evaluator.yaml b/comp_evaluator.yaml
@@ -1,7 +1,7 @@
 
 environment:
   experiment_manager_parameters: |
-    episodes_per_scenario: 5
+    episodes_per_scenario: 1
     episode_length_s: 20.0
     min_episode_length_s: 0.0
     seed: 43

diff --git a/comp_simulator_eD.yaml b/comp_simulator_eD.yaml
@@ -0,0 +1,15 @@
+build:
+  context: ./simulator
+environment:
+  AIDONODE_DATA_IN: /fifos/simulator-in
+  AIDONODE_DATA_OUT: fifo:/fifos/simulator-out
+  AIDONODE_CONFIG: |
+    env_constructor: Simulator
+    env_parameters:
+      max_steps: 500001 # we don't want the gym to reset itself
+      domain_rand: 0
+      camera_width: 640
+      camera_height: 480
+      distortion: true
+      dynamics_rand: true
+
diff --git a/comp_simulator_eDI.yaml b/comp_simulator_eDI.yaml
@@ -0,0 +1,17 @@
+build:
+  context: ./simulator
+environment:
+  AIDONODE_DATA_IN: /fifos/simulator-in
+  AIDONODE_DATA_OUT: fifo:/fifos/simulator-out
+  AIDONODE_CONFIG: |
+    env_constructor: Simulator
+    env_parameters:
+      max_steps: 500001 # we don't want the gym to reset itself
+      domain_rand: 0
+      camera_width: 640
+      camera_height: 480
+      distortion: true
+      dynamics_rand: true
+      domain_rand: true
+      camera_rand: true
+
diff --git a/comp_simulator_eI.yaml b/comp_simulator_eI.yaml
@@ -0,0 +1,16 @@
+build:
+  context: ./simulator
+environment:
+  AIDONODE_DATA_IN: /fifos/simulator-in
+  AIDONODE_DATA_OUT: fifo:/fifos/simulator-out
+  AIDONODE_CONFIG: |
+    env_constructor: Simulator
+    env_parameters:
+      max_steps: 500001 # we don't want the gym to reset itself
+      domain_rand: 0
+      camera_width: 640
+      camera_height: 480
+      distortion: true
+      camera_rand: true
+      domain_rand: true
+
diff --git a/simulator/gym_bridge.py b/simulator/gym_bridge.py
@@ -147,7 +147,8 @@ def _set_pose(self, context):
         v = self.spawn_configuration.velocity
         c0 = q, v
 
-        p = get_DB18_uncalibrated(delay=0.15, trim=e0.trim)
+        trim = e0.randomization_settings.get('trim', [0])[0]*10
+        p = get_DB18_uncalibrated(delay=0.15, trim=trim)
         self.state = p.initialize(c0=c0, t0=0)
         cur_pos, cur_angle = e0.weird_from_cartesian(q)
         q2 = e0.cartesian_from_weird(cur_pos, cur_angle)

diff --git a/simulator/requirements.txt b/simulator/requirements.txt
@@ -1,8 +1,8 @@
 
 aido-protocols-daffy>=5.0.19
 duckietown-world-daffy>=5.0.11
-zuper-typing-z5>=5.0.12
-zuper-ipce-z5>=5.1.2
+zuper-typing-z5>=5.1.1
+zuper-ipce-z5>=5.2.0
 zuper-nodes-z5>=5.0.9
 duckietown-gym-daffy>=5.0.14