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WeNavigate Evaluation |
Checkpoint: ./ppo_checkpoints2/policy_update_00600.pt |
Episodes: 20 |
Controllers: ['ppo', 'scripted', 'random'] |
Elapsed: 10s |
============================================================================== |
WeNavigate Controller Evaluation Summary |
============================================================================== |
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward |
------------------------------------------------------------------------------ |
ppo 20 9.15 0/20 0.701 0.002 0.678m 221.8 |
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6 |
random 20 0.05 19/20 0.176 0.110 0.524m -0.4 |
============================================================================== |
PPO reduces collisions by -31.7% vs Scripted |
PPO intent rate +46.3pp vs Scripted |
PPO collision-free: 0/20 Scripted collision-free: 15/20 |
WeNavigate Evaluation |
Checkpoint: ./ppo_checkpoints2/policy_update_00050.pt |
Episodes: 20 |
Controllers: ['ppo', 'scripted', 'random'] |
Elapsed: 10s |
============================================================================== |
WeNavigate Controller Evaluation Summary |
============================================================================== |
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward |
------------------------------------------------------------------------------ |
ppo 20 6.50 0/20 0.440 0.006 0.646m 89.0 |
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6 |
random 20 0.05 19/20 0.176 0.110 0.524m -0.4 |
============================================================================== |
PPO reduces collisions by 6.5% vs Scripted |
PPO intent rate +20.2pp vs Scripted |
PPO collision-free: 0/20 Scripted collision-free: 15/20 |
WeNavigate Evaluation |
Checkpoint: ./ppo_checkpoints2/policy_update_00500.pt |
Episodes: 20 |
Controllers: ['ppo', 'scripted', 'random'] |
Elapsed: 10s |
============================================================================== |
WeNavigate Controller Evaluation Summary |
============================================================================== |
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward |
------------------------------------------------------------------------------ |
ppo 20 15.75 0/20 0.708 0.001 0.638m 159.2 |
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6 |
random 20 0.05 19/20 0.176 0.110 0.524m -0.4 |
============================================================================== |
PPO reduces collisions by -126.6% vs Scripted |
PPO intent rate +47.0pp vs Scripted |
PPO collision-free: 0/20 Scripted collision-free: 15/20 |
WeNavigate Evaluation |
Checkpoint: ./ppo_checkpoints2/policy_update_00550.pt |
Episodes: 20 |
Controllers: ['ppo', 'scripted', 'random'] |
Elapsed: 10s |
============================================================================== |
WeNavigate Controller Evaluation Summary |
============================================================================== |
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward |
------------------------------------------------------------------------------ |
ppo 20 12.25 0/20 0.699 0.002 0.674m 189.8 |
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6 |
random 20 0.05 19/20 0.176 0.110 0.524m -0.4 |
============================================================================== |
PPO reduces collisions by -76.3% vs Scripted |
PPO intent rate +46.1pp vs Scripted |
PPO collision-free: 0/20 Scripted collision-free: 15/20 |
WeNavigate Evaluation |
Checkpoint: ./ppo_checkpoints2/policy_update_00600.pt |
Episodes: 20 |
Controllers: ['ppo', 'scripted', 'random'] |
Elapsed: 10s |
============================================================================== |
WeNavigate Controller Evaluation Summary |
============================================================================== |
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward |
------------------------------------------------------------------------------ |
ppo 20 9.15 0/20 0.701 0.002 0.678m 221.8 |
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6 |
random 20 0.05 19/20 0.176 0.110 0.524m -0.4 |
============================================================================== |
PPO reduces collisions by -31.7% vs Scripted |
PPO intent rate +46.3pp vs Scripted |
PPO collision-free: 0/20 Scripted collision-free: 15/20 |
WeNavigate Evaluation |
Checkpoint: ./ppo_checkpoints2/policy_update_00650.pt |
Episodes: 20 |
Controllers: ['ppo', 'scripted', 'random'] |
Elapsed: 11s |
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