diff --git a/baselines/gail/gail-eval.py b/baselines/gail/gail-eval.py index 1169bcc..ff4487f 100644 --- a/baselines/gail/gail-eval.py +++ b/baselines/gail/gail-eval.py @@ -96,6 +96,8 @@ def plot(env_name, bc_log, gail_log, stochastic): plt.plot(CONFIG['traj_limitation'], upper_bound) plt.plot(CONFIG['traj_limitation'], bc_avg_ret) plt.plot(CONFIG['traj_limitation'], gail_avg_ret) + plt.xlabel('Number of expert trajectories') + plt.ylabel('Accumulated reward') plt.title('{} unnormalized scores'.format(env_name)) plt.legend(['expert', 'bc-imitator', 'gail-imitator'], loc='lower right') plt.grid(b=True, which='major', color='gray', linestyle='--') @@ -111,6 +113,8 @@ def plot(env_name, bc_log, gail_log, stochastic): plt.plot(CONFIG['traj_limitation'], np.ones(len(CONFIG['traj_limitation']))) plt.plot(CONFIG['traj_limitation'], bc_normalized_ret) plt.plot(CONFIG['traj_limitation'], gail_normalized_ret) + plt.xlabel('Number of expert trajectories') + plt.ylabel('Normalized performance') plt.title('{} normalized scores'.format(env_name)) plt.legend(['expert', 'bc-imitator', 'gail-imitator'], loc='lower right') plt.grid(b=True, which='major', color='gray', linestyle='--') diff --git a/baselines/gail/result/HalfCheetah-normalized-stochastic-scores.png b/baselines/gail/result/HalfCheetah-normalized-stochastic-scores.png index de19209..1b50e85 100644 Binary files a/baselines/gail/result/HalfCheetah-normalized-stochastic-scores.png and b/baselines/gail/result/HalfCheetah-normalized-stochastic-scores.png differ diff --git a/baselines/gail/result/HalfCheetah-unnormalized-stochastic-scores.png b/baselines/gail/result/HalfCheetah-unnormalized-stochastic-scores.png index 3428221..4b4ecb8 100644 Binary files a/baselines/gail/result/HalfCheetah-unnormalized-stochastic-scores.png and b/baselines/gail/result/HalfCheetah-unnormalized-stochastic-scores.png differ diff --git a/baselines/gail/result/Hopper-normalized-stochastic-scores.png b/baselines/gail/result/Hopper-normalized-stochastic-scores.png index 8b5c9ab..53e4604 100644 Binary files a/baselines/gail/result/Hopper-normalized-stochastic-scores.png and b/baselines/gail/result/Hopper-normalized-stochastic-scores.png differ diff --git a/baselines/gail/result/Hopper-unnormalized-stochastic-scores.png b/baselines/gail/result/Hopper-unnormalized-stochastic-scores.png index 970d4ae..6914216 100644 Binary files a/baselines/gail/result/Hopper-unnormalized-stochastic-scores.png and b/baselines/gail/result/Hopper-unnormalized-stochastic-scores.png differ diff --git a/baselines/gail/result/Humanoid-normalized-stochastic-scores.png b/baselines/gail/result/Humanoid-normalized-stochastic-scores.png index 8826465..4c71789 100644 Binary files a/baselines/gail/result/Humanoid-normalized-stochastic-scores.png and b/baselines/gail/result/Humanoid-normalized-stochastic-scores.png differ diff --git a/baselines/gail/result/Humanoid-unnormalized-stochastic-scores.png b/baselines/gail/result/Humanoid-unnormalized-stochastic-scores.png index ac620b6..a8bc924 100644 Binary files a/baselines/gail/result/Humanoid-unnormalized-stochastic-scores.png and b/baselines/gail/result/Humanoid-unnormalized-stochastic-scores.png differ diff --git a/baselines/gail/result/HumanoidStandup-normalized-stochastic-scores.png b/baselines/gail/result/HumanoidStandup-normalized-stochastic-scores.png index b98f261..7456419 100644 Binary files a/baselines/gail/result/HumanoidStandup-normalized-stochastic-scores.png and b/baselines/gail/result/HumanoidStandup-normalized-stochastic-scores.png differ diff --git a/baselines/gail/result/HumanoidStandup-unnormalized-stochastic-scores.png b/baselines/gail/result/HumanoidStandup-unnormalized-stochastic-scores.png index 4c41e43..974e0e9 100644 Binary files a/baselines/gail/result/HumanoidStandup-unnormalized-stochastic-scores.png and b/baselines/gail/result/HumanoidStandup-unnormalized-stochastic-scores.png differ diff --git a/baselines/gail/result/Walker2d-normalized-stochastic-scores.png b/baselines/gail/result/Walker2d-normalized-stochastic-scores.png index 63cddbf..fe54c92 100644 Binary files a/baselines/gail/result/Walker2d-normalized-stochastic-scores.png and b/baselines/gail/result/Walker2d-normalized-stochastic-scores.png differ diff --git a/baselines/gail/result/Walker2d-unnormalized-stochastic-scores.png b/baselines/gail/result/Walker2d-unnormalized-stochastic-scores.png index e072424..4cef338 100644 Binary files a/baselines/gail/result/Walker2d-unnormalized-stochastic-scores.png and b/baselines/gail/result/Walker2d-unnormalized-stochastic-scores.png differ diff --git a/baselines/gail/result/png b/baselines/gail/result/png new file mode 100644 index 0000000..e69de29