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interpolation.py
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interpolation.py
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from pathlib import Path
from absl import app, flags
import matplotlib.pyplot as plt
import numpy as np
import numpy as np
from envs import make_task_env
from evaluation.plots import plot_tasks_successes
from gmp.gmp import GMP
from evaluation.interpolation import LatentInterpolation, loop, create_pygame_screen
flags.DEFINE_integer("seed", 0, "Seed for reproducibility.")
flags.DEFINE_string("run_path", "", "Path of the run folder.")
FLAGS = flags.FLAGS
def get_tasks_barycenters(successes: dict[str, np.ndarray]) -> list[np.ndarray]:
barycenters = []
for points in successes.values():
barycenters.append(np.mean(points, axis=0))
return barycenters
def main(_):
gmp = GMP.unserialize(FLAGS.run_path)
gmp.restore()
env, _ = make_task_env(
gmp.config.env_cfg.task_name, FLAGS.seed, render_mode="rgb_array"
)
screen = create_pygame_screen(env)
successes = np.load(Path(FLAGS.run_path).joinpath("successes.npz"))
latent_interpolation = LatentInterpolation(get_tasks_barycenters(successes))
plot_tasks_successes(
successes,
show_plot=False,
clear_figure=False,
color_fn=lambda i: ["r", "b", "g"][i],
)
plt.plot(
np.array(latent_interpolation.checkpoints)[..., 0],
np.array(latent_interpolation.checkpoints)[..., 1],
c="black",
linewidth=3,
label="Human Feedback path",
)
plt.legend()
plt.show()
loop(screen, gmp, env, latent_interpolation)
if __name__ == "__main__":
app.run(main)