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v0.1.18; add terrain_weighted_summary in multipipeline

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wty-yy
2025-12-28 14:05:57 +00:00
parent 64e19cb3cc
commit 7a304be263
2 changed files with 7 additions and 2 deletions
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7
robogauge/tasks/pipeline/multi_pipeline.py
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@@ -133,7 +133,7 @@ class MultiPipeline:
""" Process results from all processes and aggregate them. """
multi_logger.info("📊 Aggregating Results from all runs...")
summary = {'success': {}, **self.static_info, 'summary': {}, 'quality_score': {}, 'terrain_quality_score': {}}
summary = {'success': {}, **self.static_info, 'summary': {}, 'terrain_weighted_summary': {}, 'quality_score': {}, 'terrain_quality_score': {}}
finish_msg = (
f"""\n{'='*20} Run Finish Summary {'='*20}\n"""
f"""{'Seed':^10}{'Base Mass':^15}{'Friction':^15}{'Status':^10}\n"""
@@ -165,9 +165,14 @@ class MultiPipeline:
for metric, means in value_collections.items():
summary['summary'][metric] = {}
summary['terrain_weighted_summary'][metric] = {}
for mean_name, values in means.items():
v = float(np.mean(values))
summary['summary'][metric][mean_name] = f"{v:.4f} ± {float(np.std(values)):.4f}"
twv = v
if summary['terrain_name'] in SEARCH_LEVELS_TERRAINS:
twv = 0.09 * (summary['terrain_level'] - 1) + 0.19 * v
summary['terrain_weighted_summary'][metric][mean_name] = f"{twv:.4f} ± {float(np.std(values)):.4f}"
weight = 1
if metric in ['ang_vel_err', 'lin_vel_err']:
weight = 2

2
robogauge/tasks/pipeline/stress_pipeline.py
View File

@@ -193,7 +193,7 @@ class StressPipeline:
continue
summary[key] = result['results']
for metric, means in result['results']['summary'].items():
for metric, means in result['results']['terrain_weighted_summary'].items():
for mean_name, value_str in means.items():
value = float(value_str.split(' ± ')[0])
metric_collections[metric][mean_name].append(value)