cyy/RoboGauge
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v1.0.1

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wty-yy
2025-12-30 15:59:07 +08:00
parent 5a5500668b
commit de7d740012
7 changed files with 46 additions and 26 deletions
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12
robogauge/tasks/gauge/base_gauge.py
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@@ -21,6 +21,7 @@ from robogauge.tasks.robots import RobotConfig
from robogauge.tasks.gauge.base_gauge_config import BaseGaugeConfig
from robogauge.tasks.gauge.goal_data import GoalData, VelocityGoal, PositionGoal
from robogauge.tasks.simulator.sim_data import SimData
from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import SEARCH_LEVELS_TERRAINS
from robogauge.tasks.gauge.goals import *
from robogauge.tasks.gauge.metrics import *
@@ -149,7 +150,7 @@ class BaseGauge:
for metric_name, quantiles in self.results[goal].items():
for quantile, val in quantiles.items():
metrics[metric_name][quantile].append(val)
self.results['summary'] = {}
self.results['summary'] = {'quality_score': {}, 'terrain_quality_score': {}}
for metric_name, quantiles in metrics.items():
if metric_name not in self.results['summary']:
self.results['summary'][metric_name] = {}
@@ -157,14 +158,19 @@ class BaseGauge:
mean = float(np.mean(vals))
std = float(np.std(vals))
self.results['summary'][metric_name][quantile] = f"{mean:.4f} ± {std:.4f}"
if metric_name == 'quality_score':
tqs = mean
if self.cfg.assets.terrain_name in SEARCH_LEVELS_TERRAINS:
tqs = 0.09 * (self.cfg.assets.terrain_level - 1) + 0.19 * mean
self.results['summary']['terrain_quality_score'][quantile] = f"{tqs:.4f} ± {std:.4f}"
save_path = Path(logger.log_dir) / "results.yaml"
self.results["terrain_name"] = self.cfg.assets.terrain_name
self.results["terrain_level"] = self.cfg.assets.terrain_level
with open(save_path, 'w') as file:
yaml.dump(self.results, file, allow_unicode=True, sort_keys=False)
with open(save_path, 'w', encoding='utf-8') as file:
yaml_str = yaml.dump(self.results, allow_unicode=True, sort_keys=False)
file.write(yaml_str)
logger.info(
f"""\n{'='*20} Goals and Metrics results {'='*20}\n"""
f"""{yaml_str}"""