81 lines
3.5 KiB
Python
81 lines
3.5 KiB
Python
import os
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import numpy as np
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import matplotlib.pyplot as plt
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from mpl_toolkits.mplot3d import Axes3D
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def plot_3d_epoch_evolution(epochs, theta_over_epochs, desired_theta, save_path, title, num_steps, dt):
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fig = plt.figure(figsize=(7, 5))
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ax = fig.add_subplot(111, projection='3d')
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time_steps = np.arange(num_steps) * dt
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theta_values = np.concatenate(theta_over_epochs)
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theta_min = np.min(theta_values)
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theta_max = np.max(theta_values)
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desired_range_min = desired_theta - 1.5 * np.pi
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desired_range_max = desired_theta + 1.5 * np.pi
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desired_range_min = max(theta_min, desired_range_min)
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desired_range_max = min(theta_max, desired_range_max)
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for epoch, theta_vals in reversed(list(zip(epochs, theta_over_epochs))):
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masked_theta_vals = np.array(theta_vals)
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masked_theta_vals[(masked_theta_vals < desired_range_min) | (masked_theta_vals > desired_range_max)] = np.nan
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ax.plot([epoch] * len(time_steps), time_steps, masked_theta_vals)
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epochs_array = np.array([epoch for epoch, _ in zip(epochs, theta_over_epochs)])
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ax.plot(epochs_array, [time_steps.max()] * len(epochs_array), [desired_theta] * len(epochs_array),
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color='r', linestyle='--', linewidth=2, label='Desired Theta at End Time')
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ax.set_xlabel("Epoch")
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ax.set_ylabel("Time (s)")
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ax.set_zlabel("Theta (rad)")
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ax.set_zscale('symlog')
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ax.set_title(title)
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ax.set_zlim(desired_range_min, desired_range_max)
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ax.view_init(elev=20, azim=-135)
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if not os.path.exists(os.path.dirname(save_path)):
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os.makedirs(os.path.dirname(save_path))
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plt.savefig(save_path, dpi=300)
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plt.close()
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print(f"Saved plot as '{save_path}'.")
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def plot_theta_vs_epoch(all_results, condition_name, desired_theta, save_path, title, specific_theta_index=-1):
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"""
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Plots the theta values at a specific time over epochs for different loss functions for a specific condition, and adds a horizontal line at desired theta.
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:param all_results: Dictionary with structure {loss_function: {condition_name: (epochs, theta_over_epochs)}}
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:param condition_name: The key for the specific condition to plot.
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:param desired_theta: The y-value at which to draw a horizontal line across the plot.
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:param save_path: Path to save the final plot.
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:param title: Title of the plot.
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:param specific_theta_index: The index of the theta value to plot. Default is -1 for the last theta.
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"""
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fig, ax = plt.subplots(figsize=(10, 7)) # Correct usage of plt.subplots for creating a figure and an axes.
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if condition_name not in all_results[next(iter(all_results))]:
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print(f"No data available for condition '{condition_name}'. Exiting plot function.")
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return
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for loss_function, conditions in all_results.items():
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if condition_name in conditions:
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epochs, theta_over_epochs = conditions[condition_name]
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# Extract final theta values for each epoch
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final_thetas = [thetas[specific_theta_index] for thetas in theta_over_epochs if thetas] # Ensuring thetas is not empty
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ax.plot(epochs, final_thetas, label=f"{loss_function}")
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# Add a horizontal line at the desired_theta
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ax.axhline(y=desired_theta, color='r', linestyle='--', linewidth=2, label='Desired Theta')
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ax.set_title(title)
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ax.set_xlabel('Epoch')
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ax.set_ylabel('Final Theta (rad)')
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ax.legend()
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plt.yscale('symlog')
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plt.savefig(save_path)
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plt.close()
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print(f"Plot saved to {save_path}")
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