Looking at the different controllers as they trained

analysis/controller_across_epochs.py

@@ -2,11 +2,9 @@ import os
 import numpy as np
 import torch
 import torch.nn as nn
-import matplotlib
-matplotlib.use("Agg")  # Use non-interactive backend
 import matplotlib.pyplot as plt
 from mpl_toolkits.mplot3d import Axes3D
-import multiprocessing
+from multiprocessing import Pool, cpu_count
 
 # Define PendulumController class
 class PendulumController(nn.Module):
@@ -61,26 +59,36 @@ def pendulum_ode_step(state, dt, desired_theta, controller):
 # Constants
 g = 9.81  # Gravity
 R = 1.0   # Length of the pendulum
-m = 1.0   # Mass
+m = 10.0   # Mass
 dt = 0.02  # Time step
 num_steps = 500  # Simulation time steps
 
 # Directory containing controller files
-controller_dir = "/home/judson/Neural-Networks-in-GNC/inverted_pendulum/training/no_time_weight/controllers"
+loss_function = "cubic_time_weight"
+#controller_dir = f"/home/judson/Neural-Networks-in-GNC/inverted_pendulum/training/{loss_function}/controllers"
+controller_dir = f"C:/Users/Judson/Desktop/New Gitea/Neural-Networks-in-GNC/inverted_pendulum/training/{loss_function}/controllers"
 controller_files = sorted([f for f in os.listdir(controller_dir) if f.startswith("controller_") and f.endswith(".pth")])
 
 # Sorting controllers by epoch
 controller_epochs = [int(f.split('_')[1].split('.')[0]) for f in controller_files]
 sorted_controllers = [x for _, x in sorted(zip(controller_epochs, controller_files))]
 
+# **Epoch Range Selection**
+epoch_range = (0, 100)  # Set your desired range (e.g., (0, 5000) or (0, 100))
+
+filtered_controllers = [
+    f for f in sorted_controllers
+    if epoch_range[0] <= int(f.split('_')[1].split('.')[0]) <= epoch_range[1]
+]
+
 # **Granularity Control: Select every Nth controller**
-N = 5  # Change this value to adjust granularity (e.g., every 5th controller)
-selected_controllers = sorted_controllers[::N]  # Take every Nth controller
+N = 1  # Change this value to adjust granularity (e.g., every 5th controller)
+selected_controllers = filtered_controllers[::N]  # Take every Nth controller within the range
 
 # Initial condition
-theta0, omega0, alpha0, desired_theta = (-np.pi, -np.pi, 0.0, np.pi / 6)  # Example initial condition
+theta0, omega0, alpha0, desired_theta = (-np.pi, 0, 0.0, 0.0)  # Example initial condition
 
-# Function to run a single controller simulation (for multiprocessing)
+# Parallel function must return epoch explicitly
 def run_simulation(controller_file):
     epoch = int(controller_file.split('_')[1].split('.')[0])
     
@@ -97,39 +105,48 @@ def run_simulation(controller_file):
         theta_vals.append(state[0])
         state = pendulum_ode_step(state, dt, desired_theta, controller)
 
-    return epoch, theta_vals
+    return epoch, theta_vals  # Return epoch with data
 
 # Parallel processing
 if __name__ == "__main__":
-    num_workers = min(multiprocessing.cpu_count(), 16)  # Limit to 16 workers max
+    num_workers = min(cpu_count(), 16)  # Limit to 16 workers max
     print(f"Using {num_workers} parallel workers...")
-    print(f"Processing every {N}th controller, total controllers used: {len(selected_controllers)}")
     
-    with multiprocessing.Pool(processes=num_workers) as pool:
+    with Pool(processes=num_workers) as pool:
         results = pool.map(run_simulation, selected_controllers)
 
-    # Sort results by epoch
+    # **Sort results by epoch to ensure correct order**
     results.sort(key=lambda x: x[0])  
-    epochs, theta_over_epochs = zip(*results)
+    epochs, theta_over_epochs = zip(*results)  # Unzip sorted results
 
     # Convert results to NumPy arrays
     theta_over_epochs = np.array(theta_over_epochs)
 
-    # Create 3D plot
+
+    # Create 3D line plot
     fig = plt.figure(figsize=(10, 7))
     ax = fig.add_subplot(111, projection='3d')
 
-    # Meshgrid for 3D plotting
-    E, T = np.meshgrid(epochs, np.arange(num_steps) * dt)
+    time_steps = np.arange(num_steps) * dt  # X-axis (time)
 
-    # Plot surface
-    ax.plot_surface(E, T, theta_over_epochs.T, cmap="viridis")
+    # Plot each controller as a separate line
+    for epoch, theta_vals in zip(epochs, theta_over_epochs):
+        ax.plot(
+            [epoch] * len(time_steps),  # Y-axis (epoch stays constant for each line)
+            time_steps,  # X-axis (time)
+            theta_vals,  # Z-axis (theta evolution)
+            label=f"Epoch {epoch}" if epoch % (N * 10) == 0 else "",  # Label some lines for clarity
+        )
 
     # Labels
     ax.set_xlabel("Epoch")
     ax.set_ylabel("Time (s)")
     ax.set_zlabel("Theta (rad)")
-    ax.set_title(f"Pendulum Angle Evolution Over Training Epochs (Granularity N={N})")
+    ax.set_title(f"Pendulum Angle Evolution for {loss_function}")
 
-    plt.savefig("pendulum_plot.png", dpi=1000, bbox_inches="tight")
-    print("Saved plot as 'pendulum_plot.png'.")
+    # Improve visibility
+    ax.view_init(elev=20, azim=-135)  # Adjust 3D perspective
+
+    plt.savefig(f"{loss_function}.png", dpi=600)
+    #plt.show()
+    print(f"Saved plot as '{loss_function}.png'.")