kyr-pol commented 5 years ago

Adding Safety Features and Tool. Current Version works and has been tested, needs cleaning up.

codecov-io commented 5 years ago

Codecov Report

Merging #36 into master will decrease coverage by 45.14%. The diff coverage is 1.12%.

@@             Coverage Diff             @@
##           master      #36       +/-   ##
===========================================
- Coverage    90.3%   45.15%   -45.15%     
===========================================
  Files           7       14        +7     
  Lines         361      733      +372     
===========================================
+ Hits          326      331        +5     
- Misses         35      402      +367

Impacted Files	Coverage Δ
pilco/utils.py	`33.33% <ø> (ø)`
pilco/__init__.py	`100% <ø> (ø)`	:arrow_up:
safe_pilco/safe_pilco.py	`0% <0%> (ø)`
pilco/controllers.py	`88.73% <0%> (ø)`	:arrow_up:
pilco/models/safe_pilco.py	`0% <0%> (ø)`
safe_pilco/linear_cars_env.py	`0% <0%> (ø)`
safe_pilco/safe_swimmer_run.py	`0% <0%> (ø)`
pilco/rewards.py	`61.11% <0%> (ø)`	:arrow_up:
safe_pilco/rewards_safe.py	`0% <0%> (ø)`
safe_pilco/safe_cars_run.py	`0% <0%> (ø)`
... and 10 more

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nrontsis commented 5 years ago

I think that this PR consists of the following components:

examples/*.py, safe_pilco/experiments.py, safe_pilco/linear_cars_env.py, safe_pilco/safe_cars_run.py, safe_pilco/safe_swimmer_run.py. These are examples that aim to reproducible results with (safe)PILCO on specific tasks. These can move to a different repo.
Modifications to code already in the repo (as done e.g. for pilco/controllers.py, pilco/mgpr.py etc.). These appear to be general and it might be better to be split into a separate PR that will be merged before this one.
All other new files. These aim to bring safety features to this repo.

I suggest that we first deal with the first two bullet points so that we get a better understanding of the amount of code entailed in the last point. Then, we could decide about how this will be handled (single file, separate folder/module etc.)

kyr-pol commented 5 years ago

Ok so added a commit to clean some things up, taking script files etc. out, to a new repo.

Changes as you said consist of:

Some changes in the existing examples we provide with the repo.
Mostly slight changes to existing core functions, such as controllers.py
Extra files in the safe_pilco folder that add functionality: safe_pilco.py that inherits from pilco.models.pilco and safe_rewards.py that provides additional types of reward functions
Extra files in the safe_pilco folder that add examples: linear_cars_env.py, safe_cars_run.py, safe_swimmer_run.py, that showcase how the new safety features can be used, just as the examples provided in the examples folder do for the rest of the codebase.

I agree with merging in steps so that we can better keep track of what is going on.

nrontsis commented 4 years ago

Closing in favour of #45

nrontsis / PILCO

Safety pr #36

Codecov Report