Code clean-up

.gitignore

@@ -3,6 +3,7 @@ safe_control_gym/envs/gym_control/assets/cartpole.urdf
 experiments/figure6/trained_gp_model/bak_best_model_*.pth
 experiments/figure7/safe_exp_results/
 experiments/figure8/unsafe_ppo_temp_data/
+experiments/figure8/unsafe_ppo_model/bak_unsafe_ppo_model_30000.pt
 temp-data/
 z_docstring.py
 TODOs.md

experiments/figure6/config_overrides/gp_mpc_quad_training.yaml

@@ -101,4 +101,3 @@ task_config:
       distrib: 'uniform'
       low: -0.1
       high: 0.1
-

experiments/figure6/gp_mpc_experiment.py

@@ -15,7 +15,14 @@
 from safe_control_gym.utils.configuration import ConfigFactory
 
 
-def plot_xz_comparison_diag_constraint(prior_run, run, init_ind, dir=None):
+def plot_xz_comparison_diag_constraint(prior_run,
+                                       run,
+                                       init_ind,
+                                       dir=None
+                                       ):
+    """
+
+    """
     state_inds = [0,2]
     goal = [0, 1]
     ax = plot_2D_comparison_with_prior(state_inds, prior_run, run, goal, init_ind, dir=dir)
@@ -34,7 +41,15 @@ def plot_xz_comparison_diag_constraint(prior_run, run, init_ind, dir=None):
     plt.tight_layout()
 
 
-def plot_2D_comparison_with_prior(state_inds, prior_run, run, goal, init_ind, dir=None):
+def plot_2D_comparison_with_prior(state_inds,
+                                  prior_run,
+                                  run, goal,
+                                  init_ind,
+                                  dir=None
+                                  ):
+    """
+
+    """
     horizon_cov = run.state_horizon_cov[init_ind]
     horizon_states = run.horizon_states[init_ind]
     prior_horizon_states = prior_run.horizon_states[init_ind]
@@ -94,7 +109,14 @@ def plot_2D_comparison_with_prior(state_inds, prior_run, run, goal, init_ind, di
     return ax
 
 
-def add_2d_cov_ellipse(position, cov, ax, legend=False):
+def add_2d_cov_ellipse(position,
+                       cov,
+                       ax,
+                       legend=False
+                       ):
+    """
+
+    """
     evals, evecs = np.linalg.eig(cov)
     major_axis_ind = np.argmax(evals)
     minor_axis_ind = 0 if major_axis_ind == 1 else 1
@@ -127,7 +149,6 @@ def add_2d_cov_ellipse(position, cov, ax, legend=False):
     fac = ConfigFactory()
     fac.add_argument("--train_only", type=bool, default=False, help="True if only training is performed.")
     config = fac.merge()
-
     # Create environment.
     env_func = partial(make,
                        config.task,

experiments/figure7/config_overrides/safe_explorer_ppo_cartpole.yaml

@@ -2,7 +2,6 @@ algo_config:
   pretraining: False 
   pretrained: null
   constraint_slack: 0.05
-
   log_interval: 1000
   save_interval: 1000
   num_checkpoints: 10

experiments/figure7/config_overrides/safe_explorer_ppo_cartpole_pretrain.yaml

@@ -10,7 +10,6 @@ algo_config:
   constraint_eval_interval: 5
   constraint_buffer_size: 1000000
   constraint_slack: 0.05
-
   log_interval: 10
   save_interval: 10
   num_checkpoints: 5
@@ -27,4 +26,3 @@ task_config:
       constraint_input_type: 'STATE'
       active_dims: 0
   done_on_violation: True
-

experiments/figure7/create_fig7.sh

@@ -1,3 +1,4 @@
 #!/bin/bash
 
+# Safe Explorer vs PPO baselines.
 python3 ./safe_exp_plots.py --plot_dir ./safe_exp_results

experiments/figure7/create_safe_exp_results.sh

@@ -1,30 +1,34 @@
 #!/bin/bash
-# proper cleanup for background processes
+
+# Allow proper cleanup of background processes.
 trap "exit" INT TERM ERR
 trap "kill 0" EXIT
 
+# Remove previous results.
 rm -r -f ./safe_exp_results/
 
+# Writing paths.
 OUTPUT_DIR="./"
 TAG_ROOT="safe_exp_results"
+
+# Configuration files path.
 CONFIG_PATH_ROOT="./config_overrides"
 
+# Options.
 seeds=(2 22 222 2222 22222 9 90 998 9999 90001)
 thread=1
 
-########################## ppo 
+# PPO.
 TAG="ppo"
 CONFIG_PATH="${CONFIG_PATH_ROOT}/ppo_cartpole.yaml"
-
 for seed in "${seeds[@]}"
 do
     python3 ../main.py --algo ppo --task cartpole --overrides $CONFIG_PATH --output_dir ${OUTPUT_DIR} --tag $TAG_ROOT/$TAG --thread $thread --seed $seed
 done 
 
-########################## ppo + reward shaping 
+# PPO with reward shaping.
 TAG="ppo_rs"
 CONFIG_PATH="${CONFIG_PATH_ROOT}/ppo_rs_cartpole.yaml"
-
 tolerances=(0.15 0.2)
 for tolerance in "${tolerances[@]}"
 do
@@ -34,19 +38,16 @@ do
     done 
 done
 
-########################## pretrain safe explorer
+# Safe Explorer pre-training.
 TAG="safe_exp_pretrain"
 CONFIG_PATH="${CONFIG_PATH_ROOT}/safe_explorer_ppo_cartpole_pretrain.yaml"
-
 train_seed=88890
 python3 ../main.py --algo safe_explorer_ppo --task cartpole --overrides $CONFIG_PATH --output_dir ${OUTPUT_DIR} --tag $TAG_ROOT/$TAG --thread $thread --seed $train_seed
 
-########################## train safe explorer
+# Safe Explorer.
 PRETRAINED_PATH=(${OUTPUT_DIR}/$TAG_ROOT/$TAG/seed${train_seed}*)
-
 TAG="safe_exp_"
 CONFIG_PATH="${CONFIG_PATH_ROOT}/safe_explorer_ppo_cartpole.yaml"
-
 slacks=(0.15 0.2)
 for slack in "${slacks[@]}"
 do