Initial Commit
This commit is contained in:
parent
8628c240cb
commit
d4dbf5499a
15
InteractiveRobot/.eslintrc.cjs
Normal file
15
InteractiveRobot/.eslintrc.cjs
Normal file
@ -0,0 +1,15 @@
|
||||
/* eslint-env node */
|
||||
require("@rushstack/eslint-patch/modern-module-resolution");
|
||||
|
||||
module.exports = {
|
||||
root: true,
|
||||
extends: [
|
||||
"plugin:vue/vue3-essential",
|
||||
"eslint:recommended",
|
||||
"@vue/eslint-config-typescript",
|
||||
"@vue/eslint-config-prettier",
|
||||
],
|
||||
parserOptions: {
|
||||
ecmaVersion: "latest",
|
||||
},
|
||||
};
|
||||
28
InteractiveRobot/.gitignore
vendored
Normal file
28
InteractiveRobot/.gitignore
vendored
Normal file
@ -0,0 +1,28 @@
|
||||
# Logs
|
||||
logs
|
||||
*.log
|
||||
npm-debug.log*
|
||||
yarn-debug.log*
|
||||
yarn-error.log*
|
||||
pnpm-debug.log*
|
||||
lerna-debug.log*
|
||||
|
||||
node_modules
|
||||
.DS_Store
|
||||
dist
|
||||
dist-ssr
|
||||
coverage
|
||||
*.local
|
||||
|
||||
/cypress/videos/
|
||||
/cypress/screenshots/
|
||||
|
||||
# Editor directories and files
|
||||
.vscode/*
|
||||
!.vscode/extensions.json
|
||||
.idea
|
||||
*.suo
|
||||
*.ntvs*
|
||||
*.njsproj
|
||||
*.sln
|
||||
*.sw?
|
||||
1
InteractiveRobot/.prettierrc.json
Normal file
1
InteractiveRobot/.prettierrc.json
Normal file
@ -0,0 +1 @@
|
||||
{}
|
||||
3
InteractiveRobot/.vscode/extensions.json
vendored
Normal file
3
InteractiveRobot/.vscode/extensions.json
vendored
Normal file
@ -0,0 +1,3 @@
|
||||
{
|
||||
"recommendations": ["Vue.volar", "Vue.vscode-typescript-vue-plugin"]
|
||||
}
|
||||
46
InteractiveRobot/README.md
Normal file
46
InteractiveRobot/README.md
Normal file
@ -0,0 +1,46 @@
|
||||
# ActiveBOWeb
|
||||
|
||||
This template should help get you started developing with Vue 3 in Vite.
|
||||
|
||||
## Recommended IDE Setup
|
||||
|
||||
[VSCode](https://code.visualstudio.com/) + [Volar](https://marketplace.visualstudio.com/items?itemName=Vue.volar) (and disable Vetur) + [TypeScript Vue Plugin (Volar)](https://marketplace.visualstudio.com/items?itemName=Vue.vscode-typescript-vue-plugin).
|
||||
|
||||
## Type Support for `.vue` Imports in TS
|
||||
|
||||
TypeScript cannot handle type information for `.vue` imports by default, so we replace the `tsc` CLI with `vue-tsc` for type checking. In editors, we need [TypeScript Vue Plugin (Volar)](https://marketplace.visualstudio.com/items?itemName=Vue.vscode-typescript-vue-plugin) to make the TypeScript language service aware of `.vue` types.
|
||||
|
||||
If the standalone TypeScript plugin doesn't feel fast enough to you, Volar has also implemented a [Take Over Mode](https://github.com/johnsoncodehk/volar/discussions/471#discussioncomment-1361669) that is more performant. You can enable it by the following steps:
|
||||
|
||||
1. Disable the built-in TypeScript Extension
|
||||
1) Run `Extensions: Show Built-in Extensions` from VSCode's command palette
|
||||
2) Find `TypeScript and JavaScript Language Features`, right click and select `Disable (Workspace)`
|
||||
2. Reload the VSCode window by running `Developer: Reload Window` from the command palette.
|
||||
|
||||
## Customize configuration
|
||||
|
||||
See [Vite Configuration Reference](https://vitejs.dev/config/).
|
||||
|
||||
## Project Setup
|
||||
|
||||
```sh
|
||||
npm install
|
||||
```
|
||||
|
||||
### Compile and Hot-Reload for Development
|
||||
|
||||
```sh
|
||||
npm run dev
|
||||
```
|
||||
|
||||
### Type-Check, Compile and Minify for Production
|
||||
|
||||
```sh
|
||||
npm run build
|
||||
```
|
||||
|
||||
### Lint with [ESLint](https://eslint.org/)
|
||||
|
||||
```sh
|
||||
npm run lint
|
||||
```
|
||||
1
InteractiveRobot/env.d.ts
vendored
Normal file
1
InteractiveRobot/env.d.ts
vendored
Normal file
@ -0,0 +1 @@
|
||||
/// <reference types="vite/client" />
|
||||
13
InteractiveRobot/index.html
Normal file
13
InteractiveRobot/index.html
Normal file
@ -0,0 +1,13 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="en">
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<link rel="icon" href="/CPS_White.ico">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
<title>Active BO</title>
|
||||
</head>
|
||||
<body>
|
||||
<div id="app"></div>
|
||||
<script type="module" src="src/main.ts"></script>
|
||||
</body>
|
||||
</html>
|
||||
4635
InteractiveRobot/package-lock.json
generated
Normal file
4635
InteractiveRobot/package-lock.json
generated
Normal file
File diff suppressed because it is too large
Load Diff
40
InteractiveRobot/package.json
Normal file
40
InteractiveRobot/package.json
Normal file
@ -0,0 +1,40 @@
|
||||
{
|
||||
"name": "activeboweb",
|
||||
"version": "0.0.0",
|
||||
"private": true,
|
||||
"scripts": {
|
||||
"dev": "vite",
|
||||
"build": "run-p type-check build-only",
|
||||
"preview": "vite preview",
|
||||
"build-only": "vite build",
|
||||
"type-check": "vue-tsc --noEmit",
|
||||
"lint": "eslint . --ext .vue,.js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts --fix --ignore-path .gitignore"
|
||||
},
|
||||
"dependencies": {
|
||||
"chart.js": "^4.2.1",
|
||||
"pinia": "^2.0.30",
|
||||
"roslib": "^1.3.0",
|
||||
"vue": "^3.2.45",
|
||||
"vue-resource": "^1.5.3",
|
||||
"vue-slider-component": "^4.1.0-beta.7",
|
||||
"vue3-slider": "^1.8.0",
|
||||
"vuetify": "^3.1.4"
|
||||
},
|
||||
"devDependencies": {
|
||||
"@mdi/font": "^7.1.96",
|
||||
"@rushstack/eslint-patch": "^1.1.4",
|
||||
"@types/node": "^18.11.12",
|
||||
"@vitejs/plugin-vue": "^4.0.0",
|
||||
"@vitejs/plugin-vue-jsx": "^3.0.0",
|
||||
"@vue/eslint-config-prettier": "^7.0.0",
|
||||
"@vue/eslint-config-typescript": "^11.0.0",
|
||||
"@vue/tsconfig": "^0.1.3",
|
||||
"eslint": "^8.22.0",
|
||||
"eslint-plugin-vue": "^9.3.0",
|
||||
"npm-run-all": "^4.1.5",
|
||||
"prettier": "^2.7.1",
|
||||
"typescript": "~4.7.4",
|
||||
"vite": "^4.0.0",
|
||||
"vue-tsc": "^1.0.12"
|
||||
}
|
||||
}
|
||||
BIN
InteractiveRobot/public/CPS_White.ico
Normal file
BIN
InteractiveRobot/public/CPS_White.ico
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 100 KiB |
BIN
InteractiveRobot/public/favicon.ico
Normal file
BIN
InteractiveRobot/public/favicon.ico
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 4.2 KiB |
17
InteractiveRobot/src/App.vue
Normal file
17
InteractiveRobot/src/App.vue
Normal file
@ -0,0 +1,17 @@
|
||||
<template>
|
||||
<v-app class="app-class">
|
||||
<v-main>
|
||||
<BaseLayout />
|
||||
</v-main>
|
||||
</v-app>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import BaseLayout from "@/components/BaseLayout.vue";
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.app-class {
|
||||
background: rgb(64, 73, 76);
|
||||
}
|
||||
</style>
|
||||
BIN
InteractiveRobot/src/assets/CPS_Logo_Black.png
Normal file
BIN
InteractiveRobot/src/assets/CPS_Logo_Black.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 14 KiB |
BIN
InteractiveRobot/src/assets/CPS_Logo_White.png
Normal file
BIN
InteractiveRobot/src/assets/CPS_Logo_White.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 7.6 KiB |
15
InteractiveRobot/src/components/BaseLayout.vue
Normal file
15
InteractiveRobot/src/components/BaseLayout.vue
Normal file
@ -0,0 +1,15 @@
|
||||
<template>
|
||||
<TopBar />
|
||||
<SideBar />
|
||||
<SubLayout />
|
||||
<RosBar />
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import TopBar from "@/components/TopBar.vue";
|
||||
import RosBar from "@/components/RosBar.vue";
|
||||
import SideBar from "@/components/SideBar.vue";
|
||||
import SubLayout from "@/components/SubLayout.vue";
|
||||
</script>
|
||||
|
||||
<style scoped></style>
|
||||
146
InteractiveRobot/src/components/ControlPanel.vue
Normal file
146
InteractiveRobot/src/components/ControlPanel.vue
Normal file
@ -0,0 +1,146 @@
|
||||
<template>
|
||||
<v-row class="flex-row">
|
||||
<v-col class="flex-col px-4">
|
||||
<v-row class="d-flex justify-space-evenly">
|
||||
<v-select
|
||||
:items="envs"
|
||||
label="Environments"
|
||||
v-model="envSelector"
|
||||
></v-select>
|
||||
<v-select
|
||||
:items="metrics"
|
||||
label="Metric"
|
||||
v-model="metricSelector"
|
||||
></v-select>
|
||||
</v-row>
|
||||
<v-slider
|
||||
class="control-slider"
|
||||
label="maximum steps"
|
||||
v-model="maxStepComp"
|
||||
:step="1"
|
||||
:min="10"
|
||||
:max="500"
|
||||
thumb-label
|
||||
/>
|
||||
<v-slider
|
||||
class="control-slider"
|
||||
label="nr base funcs"
|
||||
v-model="baseFuncsComp"
|
||||
:step="1"
|
||||
:min="2"
|
||||
:max="20"
|
||||
thumb-label
|
||||
/>
|
||||
<v-slider
|
||||
class="control-slider"
|
||||
label="nr episodes"
|
||||
v-model="cstore.nr_episodes"
|
||||
:step="1"
|
||||
:min="1"
|
||||
:max="500"
|
||||
thumb-label
|
||||
/>
|
||||
<v-slider
|
||||
class="control-slider"
|
||||
label="nr runs"
|
||||
v-model="cstore.nr_runs"
|
||||
:step="1"
|
||||
:min="1"
|
||||
:max="100"
|
||||
thumb-label
|
||||
/>
|
||||
<v-select
|
||||
class="justify-space-evenly"
|
||||
:items="acq_funs"
|
||||
label="Acquisition Function"
|
||||
v-model="acqSelector"
|
||||
></v-select>
|
||||
<v-row class="flex-row px-4 py-0" style="max-height: 80px">
|
||||
<v-slider
|
||||
class="control-slider"
|
||||
:label="cstore.metrics_label[cstore.metric]"
|
||||
v-model="cstore.metric_parameter"
|
||||
:step="cstore.metric_limits[cstore.metric][2]"
|
||||
:min="cstore.metric_limits[cstore.metric][0]"
|
||||
:max="cstore.metric_limits[cstore.metric][1]"
|
||||
thumb-label
|
||||
/>
|
||||
<v-col class="pa-0 ba-0" cols="2">
|
||||
<v-select
|
||||
v-if="cstore.metric === 'improvement'"
|
||||
label="nr episodes"
|
||||
v-model="cstore.improvement_2"
|
||||
:items="[5, 10, 15, 20, 25, 30, 35, 40, 45, 50]"
|
||||
variant="outlined"
|
||||
/>
|
||||
</v-col>
|
||||
</v-row>
|
||||
<v-row class="justify-space-evenly px-1 py-0 ma-0 ba-0">
|
||||
<v-checkbox
|
||||
class="py-0 my-0"
|
||||
v-model="cstore.fixed_seed"
|
||||
label="fixed seed"
|
||||
/>
|
||||
<v-checkbox
|
||||
class="py-0 my-0"
|
||||
v-model="cstore.save_result"
|
||||
label="save_result"
|
||||
/>
|
||||
</v-row>
|
||||
<v-row class="d-flex justify-space-evenly py-0 ma-0">
|
||||
<v-btn
|
||||
class="py-0 my-0"
|
||||
color="primary"
|
||||
@click="cstore.setSendWeights()"
|
||||
>Send Weights</v-btn
|
||||
>
|
||||
<v-btn class="py-0 my-0" color="secondary" @click="cstore.setRunner()"
|
||||
>Run</v-btn
|
||||
>
|
||||
</v-row>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import { usePStore } from "@/store/PolicyStore";
|
||||
import { useCStore } from "@/store/ControlStore";
|
||||
import { computed } from "vue";
|
||||
|
||||
const pstore = usePStore();
|
||||
const cstore = useCStore();
|
||||
|
||||
const envs = cstore.envs;
|
||||
const metrics = cstore.metrics;
|
||||
const acq_funs = cstore.acq_funs;
|
||||
|
||||
const maxStepComp = computed({
|
||||
get: () => pstore.max_steps,
|
||||
set: (value) => pstore.setMaxSteps(value),
|
||||
});
|
||||
|
||||
const baseFuncsComp = computed({
|
||||
get: () => pstore.nr_weights,
|
||||
set: (value) => pstore.setNrWeights(value),
|
||||
});
|
||||
|
||||
const envSelector = computed({
|
||||
get: () => cstore.env,
|
||||
set: (value) => cstore.setEnv(value),
|
||||
});
|
||||
|
||||
const metricSelector = computed({
|
||||
get: () => cstore.metric,
|
||||
set: (value) => cstore.setMetric(value),
|
||||
});
|
||||
|
||||
const acqSelector = computed({
|
||||
get: () => cstore.acq_fun,
|
||||
set: (value) => cstore.setAcq(value),
|
||||
});
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.control-slider {
|
||||
}
|
||||
</style>
|
||||
143
InteractiveRobot/src/components/PolicyPlot.vue
Normal file
143
InteractiveRobot/src/components/PolicyPlot.vue
Normal file
@ -0,0 +1,143 @@
|
||||
<template>
|
||||
<canvas id="policy-chart" />
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import { onMounted, watch } from "vue";
|
||||
import { usePStore } from "@/store/PolicyStore";
|
||||
import { Chart } from "chart.js/auto";
|
||||
import { computeRbfCurve } from "@/js_funs/online_rbf_policy";
|
||||
import { useRLStore } from "@/store/RLStore";
|
||||
|
||||
const store = usePStore();
|
||||
const rlstore = useRLStore();
|
||||
|
||||
let chartHandle;
|
||||
|
||||
function buildChart() {
|
||||
const policy_x = store.getPolicy;
|
||||
const policy_y = store.getPolicy_y;
|
||||
|
||||
const current_x = policy_x[rlstore.current_time];
|
||||
const current_y = policy_y[rlstore.current_time];
|
||||
|
||||
const policy_xy = [];
|
||||
|
||||
for (let i = 0; i < policy_x.length; i += 1) {
|
||||
policy_xy[policy_xy.length] = { x: policy_x[i], y: policy_y[i] };
|
||||
}
|
||||
|
||||
const RewardPlot = {
|
||||
type: "scatter",
|
||||
data: {
|
||||
datasets: [
|
||||
{
|
||||
type: "line",
|
||||
xAxisID: "x",
|
||||
yAxisID: "y",
|
||||
data: policy_xy,
|
||||
borderColor: "#3DC47A",
|
||||
borderWidth: 2,
|
||||
pointRadius: 0.1,
|
||||
order: 1,
|
||||
},
|
||||
{
|
||||
type: "scatter",
|
||||
xAxisID: "x",
|
||||
yAxisID: "y",
|
||||
data: [{ x: current_x, y: current_y }],
|
||||
backgroundColor: "red",
|
||||
pointRadius: 3,
|
||||
order: 0,
|
||||
},
|
||||
],
|
||||
},
|
||||
options: {
|
||||
maintainAspectRatio: false,
|
||||
responsive: true,
|
||||
animation: {
|
||||
duration: 0,
|
||||
},
|
||||
plugins: {
|
||||
legend: {
|
||||
display: false,
|
||||
},
|
||||
// verticalLinePlugin: {
|
||||
// xValue: rlstore.getCurrentTime,
|
||||
// },
|
||||
},
|
||||
lineTension: 0,
|
||||
tooltip: {
|
||||
mode: "label",
|
||||
},
|
||||
scales: {
|
||||
x: {
|
||||
display: true,
|
||||
grid: {
|
||||
display: false,
|
||||
},
|
||||
min: -1.1,
|
||||
max: 1.1,
|
||||
},
|
||||
y: {
|
||||
type: "linear",
|
||||
display: true,
|
||||
min: -1.1,
|
||||
max: 1.1,
|
||||
},
|
||||
},
|
||||
},
|
||||
};
|
||||
const ctx = document.getElementById("policy-chart");
|
||||
// eslint-disable-next-line no-new
|
||||
chartHandle = new Chart(ctx, RewardPlot);
|
||||
}
|
||||
|
||||
onMounted(() => {
|
||||
buildChart();
|
||||
});
|
||||
|
||||
watch(
|
||||
() => rlstore.current_time,
|
||||
() => {
|
||||
const policy_x = store.getPolicy;
|
||||
const policy_y = store.getPolicy_y;
|
||||
|
||||
const current_x = policy_x[rlstore.current_time];
|
||||
const current_y = policy_y[rlstore.current_time];
|
||||
|
||||
const policy_xy = [];
|
||||
|
||||
for (let i = 0; i < policy_x.length; i += 1) {
|
||||
policy_xy[policy_xy.length] = { x: policy_x[i], y: policy_y[i] };
|
||||
}
|
||||
|
||||
chartHandle.data.datasets[0].data = policy_xy;
|
||||
chartHandle.data.datasets[1].data = [{ x: current_x, y: current_y }];
|
||||
chartHandle.update();
|
||||
}
|
||||
);
|
||||
watch(
|
||||
() => store.getTrigger,
|
||||
() => {
|
||||
const policy_x = computeRbfCurve(store.getMaxSteps, store.getWeights);
|
||||
store.setPolicy(policy_x);
|
||||
const policy_y = computeRbfCurve(store.getMaxSteps, store.getWeights_y);
|
||||
store.setPolicy_y(policy_y);
|
||||
|
||||
const policy_xy = [];
|
||||
|
||||
for (let i = 0; i < policy_x.length; i += 1) {
|
||||
policy_xy[policy_xy.length] = { x: policy_x[i], y: policy_y[i] };
|
||||
}
|
||||
|
||||
chartHandle.data.datasets[0].data = policy_xy;
|
||||
// chartHandle.options.plugins.verticalLinePlugin.xValue =
|
||||
// rlstore.current_time;
|
||||
|
||||
chartHandle.update();
|
||||
}
|
||||
);
|
||||
</script>
|
||||
|
||||
<style scoped></style>
|
||||
58
InteractiveRobot/src/components/RLCanvas.vue
Normal file
58
InteractiveRobot/src/components/RLCanvas.vue
Normal file
@ -0,0 +1,58 @@
|
||||
<template>
|
||||
<canvas id="MCcanvas" width="480" height="320" />
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import { onMounted, ref, watch } from "vue";
|
||||
import { useRLStore } from "@/store/RLStore";
|
||||
|
||||
const rlstore = useRLStore();
|
||||
|
||||
const imageData = ref(null);
|
||||
|
||||
const renderImage = (width, height) => {
|
||||
const red = rlstore.getRed;
|
||||
const green = rlstore.getGreen;
|
||||
const blue = rlstore.getBlue;
|
||||
|
||||
const rgbData = new Uint8ClampedArray(height * width * 4);
|
||||
for (let i = 0; i < height * width; i++) {
|
||||
const j = i * 4;
|
||||
rgbData[j] = red[i];
|
||||
rgbData[j + 1] = green[i];
|
||||
rgbData[j + 2] = blue[i];
|
||||
rgbData[j + 3] = 255;
|
||||
}
|
||||
|
||||
imageData.value = rgbData;
|
||||
};
|
||||
|
||||
const drawImage = (width, height) => {
|
||||
if (imageData.value) {
|
||||
const canvas = document.getElementById("MCcanvas");
|
||||
const context = canvas.getContext("2d");
|
||||
|
||||
const image = new ImageData(imageData.value, width, height);
|
||||
context.putImageData(image, 0, 0);
|
||||
}
|
||||
};
|
||||
|
||||
onMounted(() => {
|
||||
const height = rlstore.getHeight;
|
||||
const width = rlstore.getWidth;
|
||||
renderImage(width, height);
|
||||
drawImage(width, height);
|
||||
});
|
||||
|
||||
watch(
|
||||
() => rlstore.trigger,
|
||||
() => {
|
||||
const height = rlstore.getHeight;
|
||||
const width = rlstore.getWidth;
|
||||
renderImage(width, height);
|
||||
drawImage(width, height);
|
||||
}
|
||||
);
|
||||
</script>
|
||||
|
||||
<style scoped></style>
|
||||
131
InteractiveRobot/src/components/RewardPlot.vue
Normal file
131
InteractiveRobot/src/components/RewardPlot.vue
Normal file
@ -0,0 +1,131 @@
|
||||
<template>
|
||||
<canvas id="reward-chart" />
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import { onMounted, watch } from "vue";
|
||||
import { Chart } from "chart.js/auto";
|
||||
import { useRStore } from "@/store/RewardStore";
|
||||
|
||||
const store = useRStore();
|
||||
|
||||
let chartHandle;
|
||||
|
||||
function buildChart() {
|
||||
const reward_mean = store.getMean;
|
||||
const reward_std = store.getStd;
|
||||
const upper_bound = Array(reward_mean.length)
|
||||
.fill(0)
|
||||
.map((_, i) => reward_mean[i] + 1.96 * reward_std[i]);
|
||||
const lower_bound = Array(reward_mean.length)
|
||||
.fill(0)
|
||||
.map((_, i) => reward_mean[i] - 1.96 * reward_std[i]);
|
||||
const reward_labels = Array(reward_mean.length)
|
||||
.fill(0)
|
||||
.map((_, i) => i);
|
||||
const RewardPlot = {
|
||||
data: {
|
||||
datasets: [
|
||||
{
|
||||
label: "Reward",
|
||||
type: "line",
|
||||
xAxisID: "x",
|
||||
yAxisID: "y",
|
||||
fill: false,
|
||||
data: reward_mean,
|
||||
borderColor: "#3DC47A",
|
||||
borderWidth: 2,
|
||||
pointRadius: 0,
|
||||
},
|
||||
{
|
||||
type: "line",
|
||||
xAxisID: "x",
|
||||
yAxisID: "y",
|
||||
fill: 0,
|
||||
data: upper_bound,
|
||||
pointRadius: 0,
|
||||
borderColor: "transparent",
|
||||
backgroundColor: "rgba(61,196,122,0.5)",
|
||||
},
|
||||
{
|
||||
type: "line",
|
||||
xAxisID: "x",
|
||||
yAxisID: "y",
|
||||
fill: 0,
|
||||
data: lower_bound,
|
||||
pointRadius: 0,
|
||||
borderColor: "transparent",
|
||||
backgroundColor: "rgba(61,196,122,0.5)",
|
||||
},
|
||||
],
|
||||
},
|
||||
options: {
|
||||
plugins: {
|
||||
legend: {
|
||||
display: false,
|
||||
},
|
||||
},
|
||||
maintainAspectRatio: false,
|
||||
responsive: true,
|
||||
animation: {
|
||||
duration: 0,
|
||||
},
|
||||
lineTension: 0,
|
||||
tooltip: {
|
||||
mode: "label",
|
||||
},
|
||||
scales: {
|
||||
x: {
|
||||
grid: {
|
||||
display: false,
|
||||
},
|
||||
labels: reward_labels,
|
||||
ticks: {
|
||||
autoSkip: true,
|
||||
},
|
||||
},
|
||||
y: {
|
||||
type: "linear",
|
||||
ticks: {
|
||||
beginAtZero: false,
|
||||
min: -110,
|
||||
max: 0,
|
||||
},
|
||||
},
|
||||
},
|
||||
},
|
||||
};
|
||||
const ctx = document.getElementById("reward-chart");
|
||||
// eslint-disable-next-line no-new
|
||||
chartHandle = new Chart(ctx, RewardPlot);
|
||||
}
|
||||
|
||||
onMounted(() => {
|
||||
buildChart();
|
||||
});
|
||||
|
||||
watch(
|
||||
() => store.getTrigger,
|
||||
() => {
|
||||
const reward_mean = store.getMean;
|
||||
const reward_std = store.getStd;
|
||||
const upper_bound = Array(reward_mean.length)
|
||||
.fill(0)
|
||||
.map((_, i) => reward_mean[i] + 1.96 * reward_std[i]);
|
||||
const lower_bound = Array(reward_mean.length)
|
||||
.fill(0)
|
||||
.map((_, i) => reward_mean[i] - 1.96 * reward_std[i]);
|
||||
|
||||
chartHandle.options.scales.x.labels = Array(reward_mean.length)
|
||||
.fill(0)
|
||||
.map((_, i) => i);
|
||||
chartHandle.data.datasets[0].data = reward_mean;
|
||||
chartHandle.data.datasets[1].data = upper_bound;
|
||||
chartHandle.data.datasets[2].data = lower_bound;
|
||||
|
||||
chartHandle.update();
|
||||
}
|
||||
);
|
||||
</script>
|
||||
|
||||
<style scoped></style>
|
||||
250
InteractiveRobot/src/components/RosBar.vue
Normal file
250
InteractiveRobot/src/components/RosBar.vue
Normal file
@ -0,0 +1,250 @@
|
||||
<template>
|
||||
<v-navigation-drawer v-model="store.rosBarOpened" temporary location="right">
|
||||
<v-container fluid>
|
||||
<v-row justify="space-between">
|
||||
<v-col cols="6" md="12">
|
||||
<v-text-field
|
||||
v-model="formState.ipaddress"
|
||||
label="IP Address"
|
||||
:disabled="connectionState"
|
||||
/>
|
||||
<v-text-field
|
||||
v-model="formState.port"
|
||||
label="Port"
|
||||
:disabled="connectionState"
|
||||
/>
|
||||
<v-switch
|
||||
@change="updateConnectionState"
|
||||
true-value="connected"
|
||||
false-value="not connected"
|
||||
:label="`${formState.connect}`"
|
||||
/>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</v-container>
|
||||
</v-navigation-drawer>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import * as ROS from "roslib";
|
||||
import { useBWStore } from "@/store/BaseWebsiteStore";
|
||||
import { usePStore } from "@/store/PolicyStore";
|
||||
import { useCStore } from "@/store/ControlStore";
|
||||
import { useRStore } from "@/store/RewardStore";
|
||||
import { useRLStore } from "@/store/RLStore";
|
||||
|
||||
import { reactive, ref, watch } from "vue";
|
||||
|
||||
const store = useBWStore();
|
||||
const pstore = usePStore();
|
||||
const cstore = useCStore();
|
||||
const rstore = useRStore();
|
||||
const rlstore = useRLStore();
|
||||
|
||||
const formState = reactive({
|
||||
ipaddress: "localhost",
|
||||
port: "9090",
|
||||
connect: "not connected",
|
||||
// connectionState: computed(() => formState.connect !== 'not connected'),
|
||||
});
|
||||
|
||||
const connectionState = ref(false);
|
||||
const stateCounter = ref([0, 0, 0]);
|
||||
|
||||
// Open Connection to ROSBridge and subscribe the topics.
|
||||
const ros = new ROS.Ros();
|
||||
const ros_eval = new ROS.Ros();
|
||||
|
||||
ros.on("connection", () => {
|
||||
stateCounter.value[0] += 1;
|
||||
});
|
||||
ros_eval.on("connection", () => {});
|
||||
|
||||
ros.on("error", (error) => {
|
||||
stateCounter.value[1] += 1;
|
||||
console.log(error);
|
||||
});
|
||||
ros_eval.on("error", () => {});
|
||||
|
||||
ros.on("close", () => {
|
||||
stateCounter.value[2] += 1;
|
||||
});
|
||||
ros_eval.on("close", () => {});
|
||||
|
||||
function updateConnectionState() {
|
||||
connectionState.value = !connectionState.value;
|
||||
if (formState.connect === "not connected") {
|
||||
formState.connect = "connected";
|
||||
const rosUrl = `ws://${formState.ipaddress}:${formState.port}`;
|
||||
ros.connect(rosUrl);
|
||||
ros_eval.connect(rosUrl);
|
||||
} else {
|
||||
formState.connect = "not connected";
|
||||
ros.close();
|
||||
ros_eval.close();
|
||||
}
|
||||
}
|
||||
|
||||
const lastStateCounter = [0, 0, 0];
|
||||
|
||||
// ROS2 State Observer
|
||||
watch(stateCounter.value, (newValue) => {
|
||||
let currentState = 0;
|
||||
for (let i = 0; i < lastStateCounter.length; i += 1) {
|
||||
if (newValue[i] - lastStateCounter[i] === 1) {
|
||||
currentState = i;
|
||||
}
|
||||
lastStateCounter[i] = newValue[i];
|
||||
}
|
||||
if (currentState === 0) {
|
||||
store.setRosConState("connected");
|
||||
} else if (currentState === 1) {
|
||||
store.setRosConState("error");
|
||||
} else if (currentState === 2) {
|
||||
store.setRosConState("not connected");
|
||||
}
|
||||
});
|
||||
|
||||
// State Subscriber
|
||||
const state_subscriber = new ROS.Topic({
|
||||
ros: ros,
|
||||
name: "/active_bo_state",
|
||||
messageType: "active_bo_msgs/msg/ActiveBOState",
|
||||
});
|
||||
|
||||
state_subscriber.subscribe((msg) => {
|
||||
rlstore.setCurrentRun(msg.current_run);
|
||||
rlstore.setCurrentEpisode(msg.current_episode);
|
||||
rlstore.setBestReward(msg.best_reward);
|
||||
rlstore.setLastUserReward(msg.last_user_reward);
|
||||
|
||||
if (msg.current_episode === 1) {
|
||||
pstore.resetWeights_Fixed();
|
||||
}
|
||||
});
|
||||
|
||||
// RL Service + Feedback Subscriber
|
||||
const rl_feedback_subscriber = new ROS.Topic({
|
||||
ros: ros,
|
||||
name: "/rl_feedback",
|
||||
messageType: "active_bo_msgs/msg/ImageFeedback",
|
||||
});
|
||||
|
||||
rl_feedback_subscriber.subscribe((msg) => {
|
||||
rlstore.setDim(msg.height, msg.width);
|
||||
rlstore.setRgbArrays(msg.red, msg.green, msg.blue);
|
||||
rlstore.setCurrentTime(msg.current_time);
|
||||
});
|
||||
|
||||
const active_rl_eval_sub = new ROS.Topic({
|
||||
ros: ros_eval,
|
||||
name: "/active_rl_eval_request",
|
||||
messageType: "active_bo_msgs/msg/ActiveRLEvalRequest",
|
||||
});
|
||||
|
||||
const pendingRequest = ref(false);
|
||||
active_rl_eval_sub.subscribe((msg) => {
|
||||
const nr_steps = msg.nr_steps;
|
||||
const nr_weights = msg.nr_weights;
|
||||
|
||||
const pol_x = msg.policy.slice(0, nr_steps);
|
||||
const pol_y = msg.policy.slice(nr_steps);
|
||||
|
||||
const weights_x = msg.weights.slice(0, nr_weights);
|
||||
const weights_y = msg.weights.slice(nr_weights);
|
||||
|
||||
pstore.setPolicy(pol_x);
|
||||
pstore.setPolicy_y(pol_y);
|
||||
pstore.setWeights(weights_x);
|
||||
pstore.setWeights_y(weights_y);
|
||||
pendingRequest.value = true;
|
||||
});
|
||||
|
||||
const active_rl_eval_pub = new ROS.Topic({
|
||||
ros: ros_eval,
|
||||
name: "/active_rl_eval_response",
|
||||
messageType: "active_bo_msgs/msg/ActiveRLEvalResponse",
|
||||
});
|
||||
|
||||
watch(
|
||||
() => cstore.getSendWeights,
|
||||
() => {
|
||||
if (!pendingRequest.value) {
|
||||
return;
|
||||
}
|
||||
console.log("Button pressed!");
|
||||
const policy = pstore.policy.concat(pstore.policy_y);
|
||||
const weights = pstore.weights.concat(pstore.weights_y);
|
||||
const weights_fixed = pstore.weights_fixed.concat(pstore.weights_fixed_y);
|
||||
const active_eval_response = new ROS.Message({
|
||||
policy: policy,
|
||||
weights: weights,
|
||||
weight_preference: weights_fixed,
|
||||
});
|
||||
|
||||
console.log(active_eval_response);
|
||||
|
||||
active_rl_eval_pub.publish(active_eval_response);
|
||||
console.log("New Policy/ Weights published");
|
||||
pendingRequest.value = false;
|
||||
}
|
||||
);
|
||||
|
||||
const active_bo_pending = ref(false);
|
||||
|
||||
const active_bo_response = new ROS.Topic({
|
||||
ros: ros,
|
||||
name: "/active_bo_response",
|
||||
messageType: "active_bo_msgs/msg/ActiveBOResponse",
|
||||
});
|
||||
|
||||
active_bo_response.subscribe((msg) => {
|
||||
const nr_steps = msg.nr_steps;
|
||||
const nr_weights = msg.nr_weights;
|
||||
|
||||
const pol_x = msg.best_policy.slice(0, nr_steps);
|
||||
const pol_y = msg.best_policy.slice(nr_steps);
|
||||
|
||||
const weights_x = msg.best_weights.slice(0, nr_weights);
|
||||
const weights_y = msg.best_weights.slice(nr_weights);
|
||||
|
||||
pstore.setPolicy(pol_x);
|
||||
pstore.setPolicy_y(pol_y);
|
||||
pstore.setWeights(weights_x);
|
||||
pstore.setWeights_y(weights_y);
|
||||
rstore.setMean(msg.reward_mean);
|
||||
rstore.setStd(msg.reward_std);
|
||||
active_bo_pending.value = false;
|
||||
});
|
||||
|
||||
const active_bo_request = new ROS.Topic({
|
||||
ros: ros,
|
||||
name: "/active_bo_request",
|
||||
messageType: "active_bo_msgs/msg/ActiveBORequest",
|
||||
});
|
||||
|
||||
watch(
|
||||
() => cstore.getRunner,
|
||||
() => {
|
||||
const request_msg = new ROS.Message({
|
||||
env: cstore.env,
|
||||
metric: cstore.metric,
|
||||
fixed_seed: cstore.fixed_seed,
|
||||
nr_weights: pstore.nr_weights,
|
||||
max_steps: pstore.max_steps,
|
||||
nr_dims: cstore.env_dim[cstore.env],
|
||||
nr_episodes: cstore.nr_episodes,
|
||||
nr_runs: cstore.nr_runs,
|
||||
acquisition_function: cstore.acq_fun,
|
||||
metric_parameter: cstore.metric_parameter,
|
||||
metric_parameter_2: cstore.improvement_2,
|
||||
save_result: cstore.save_result,
|
||||
overwrite: cstore.overwrite,
|
||||
});
|
||||
active_bo_pending.value = true;
|
||||
active_bo_request.publish(request_msg);
|
||||
}
|
||||
);
|
||||
</script>
|
||||
|
||||
<style scoped></style>
|
||||
84
InteractiveRobot/src/components/SideBar.vue
Normal file
84
InteractiveRobot/src/components/SideBar.vue
Normal file
@ -0,0 +1,84 @@
|
||||
<template>
|
||||
<v-navigation-drawer class="nav-drawer" permanent width="64">
|
||||
<v-list class="py-3">
|
||||
<v-list-item style="padding: 0" class="py-2">
|
||||
<div class="tile">
|
||||
<span
|
||||
style="
|
||||
font-size: 14px;
|
||||
text-align: center;
|
||||
word-wrap: break-word;
|
||||
padding: 0;
|
||||
"
|
||||
>Current <br />
|
||||
Run <br />
|
||||
{{ rlstore.current_run }}</span
|
||||
>
|
||||
</div>
|
||||
</v-list-item>
|
||||
<v-list-item style="padding: 0" class="py-2">
|
||||
<div class="tile">
|
||||
<span
|
||||
style="
|
||||
font-size: 14px;
|
||||
text-align: center;
|
||||
word-wrap: break-word;
|
||||
padding: 0;
|
||||
"
|
||||
>Current <br />
|
||||
Episode <br />
|
||||
{{ rlstore.current_episode }}</span
|
||||
>
|
||||
</div>
|
||||
</v-list-item>
|
||||
<v-list-item style="padding: 0" class="py-2">
|
||||
<div class="tile">
|
||||
<span
|
||||
style="
|
||||
font-size: 14px;
|
||||
text-align: center;
|
||||
word-wrap: break-word;
|
||||
padding: 0;
|
||||
"
|
||||
>Best <br />
|
||||
Reward <br />
|
||||
{{ rlstore.best_reward.toFixed(1) }}</span
|
||||
>
|
||||
</div>
|
||||
</v-list-item>
|
||||
<v-list-item style="padding: 0" class="py-2">
|
||||
<div class="tile">
|
||||
<span
|
||||
style="
|
||||
font-size: 14px;
|
||||
text-align: center;
|
||||
word-wrap: break-word;
|
||||
padding: 0;
|
||||
"
|
||||
>User <br />
|
||||
Reward <br />
|
||||
{{ rlstore.last_user_reward.toFixed(1) }}</span
|
||||
>
|
||||
</div>
|
||||
</v-list-item>
|
||||
</v-list>
|
||||
</v-navigation-drawer>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import { useRLStore } from "@/store/RLStore";
|
||||
const rlstore = useRLStore();
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.tile {
|
||||
width: 63px;
|
||||
height: 64px;
|
||||
padding: 0;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
border-top: 1px solid rgba(255, 255, 255, 0.12);
|
||||
border-bottom: 1px solid rgba(255, 255, 255, 0.12);
|
||||
}
|
||||
</style>
|
||||
108
InteractiveRobot/src/components/SubLayout.vue
Normal file
108
InteractiveRobot/src/components/SubLayout.vue
Normal file
@ -0,0 +1,108 @@
|
||||
<template>
|
||||
<v-container fluid class="sub-layout">
|
||||
<v-row no-gutters>
|
||||
<v-col>
|
||||
<v-row no-gutters justify="start" cols="8">
|
||||
<v-col :style="{ flexGrow: 0 }">
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: squaredSize, width: squaredSize }"
|
||||
>
|
||||
<policy-plot />
|
||||
</v-card>
|
||||
</v-col>
|
||||
<v-col :style="{ flexGrow: 0 }" cols="4">
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: squaredSize, width: '20vh' }"
|
||||
>
|
||||
<weight-tuner-vertical />
|
||||
</v-card>
|
||||
</v-col>
|
||||
<v-col cols="8">
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: 'calc(20vh - 24px)', width: squaredSize }"
|
||||
>
|
||||
<weight-tuner />
|
||||
</v-card>
|
||||
</v-col>
|
||||
<v-col>
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: 'calc(20vh - 24px)', width: '100%' }"
|
||||
>
|
||||
<reward-plot />
|
||||
</v-card>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</v-col>
|
||||
<v-col cols="12" md="4">
|
||||
<v-row no-gutters>
|
||||
<v-col cols="12">
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: 'calc(40vh - 24px)', width: '100%' }"
|
||||
>
|
||||
<RLCanvas />
|
||||
</v-card>
|
||||
</v-col>
|
||||
<v-col cols="12">
|
||||
<v-card
|
||||
class="tile"
|
||||
:style="{ height: 'calc(60vh - 48px)', width: '100%' }"
|
||||
>
|
||||
<control-panel />
|
||||
</v-card>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</v-container>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import WeightTuner from "@/components/WeightTuner.vue";
|
||||
import RewardPlot from "@/components/RewardPlot.vue";
|
||||
import PolicyPlot from "@/components/PolicyPlot.vue";
|
||||
import ControlPanel from "@/components/ControlPanel.vue";
|
||||
import RLCanvas from "@/components/RLCanvas.vue";
|
||||
import WeightTunerVertical from "@/components/WeightTunerVertical.vue";
|
||||
|
||||
import { ref, computed } from "vue";
|
||||
|
||||
const viewportHeight = ref(window.innerHeight);
|
||||
const viewportWidth = ref(window.innerWidth);
|
||||
|
||||
// Update the viewportWidth on resize
|
||||
window.addEventListener("resize", () => {
|
||||
viewportHeight.value = window.innerHeight;
|
||||
});
|
||||
|
||||
window.addEventListener("resize", () => {
|
||||
viewportWidth.value = window.innerWidth;
|
||||
});
|
||||
|
||||
const squaredSize = computed(() => {
|
||||
const vhSize = viewportWidth.value * 0.4 - 64 + "px";
|
||||
const vwSize = viewportHeight.value * 0.65 - 68 + "px"; // 8/12 of viewport width
|
||||
console.log(vhSize, vwSize);
|
||||
return `min(${vhSize}, ${vwSize})`;
|
||||
});
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.sub-layout {
|
||||
padding: 0;
|
||||
margin: 1px 0 0 0;
|
||||
}
|
||||
.tile {
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
|
||||
border: 1px solid #333;
|
||||
}
|
||||
</style>
|
||||
43
InteractiveRobot/src/components/TopBar.vue
Normal file
43
InteractiveRobot/src/components/TopBar.vue
Normal file
@ -0,0 +1,43 @@
|
||||
<template>
|
||||
<v-app-bar id="components-top-bar" class="elevation-1">
|
||||
<v-img class="cps-image" :left="true" :src="pic" />
|
||||
<v-divider vertical class="image-divider" />
|
||||
<v-spacer />
|
||||
<v-btn @click="store.toggleRosBar()">
|
||||
<v-icon :color="changeRosColor()" large>
|
||||
mdi-checkbox-blank-circle
|
||||
</v-icon>
|
||||
\ ROS2
|
||||
</v-btn>
|
||||
</v-app-bar>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import { useBWStore } from "@/store/BaseWebsiteStore";
|
||||
import pic from "../assets/CPS_Logo_White.png";
|
||||
|
||||
const store = useBWStore();
|
||||
|
||||
const changeRosColor = () => {
|
||||
const conState = store.getRosConState;
|
||||
if (conState === "not connected") {
|
||||
return "red";
|
||||
}
|
||||
if (conState === "connected") {
|
||||
return "green";
|
||||
}
|
||||
return "grey";
|
||||
};
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.cps-image {
|
||||
left: 8px;
|
||||
max-width: 48px;
|
||||
max-height: 48px;
|
||||
}
|
||||
.image-divider {
|
||||
position: absolute;
|
||||
left: 64px;
|
||||
}
|
||||
</style>
|
||||
64
InteractiveRobot/src/components/WeightTuner.vue
Normal file
64
InteractiveRobot/src/components/WeightTuner.vue
Normal file
@ -0,0 +1,64 @@
|
||||
<template>
|
||||
<v-row no-gutters justify="center" class="h-weight-tuner">
|
||||
<!-- eslint-disable-next-line -->
|
||||
<v-col v-for="(_ , idx) in weights" :key="idx">
|
||||
<div class="h-weight-container">
|
||||
<vue-slider
|
||||
class="h-slider-margin-bottom"
|
||||
v-model="weights[idx]"
|
||||
@change="updateWeight(idx, $event)"
|
||||
direction="btt"
|
||||
:height="100"
|
||||
:min="-1"
|
||||
:max="1"
|
||||
:interval="0.01"
|
||||
/>
|
||||
<v-checkbox
|
||||
class="ma-0 h-checkbox-bottom"
|
||||
v-model="store.weights_fixed[idx]"
|
||||
/>
|
||||
</div>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import { usePStore } from "@/store/PolicyStore";
|
||||
|
||||
import VueSlider from "vue-slider-component";
|
||||
import "vue-slider-component/theme/default.css";
|
||||
import { computed } from "vue";
|
||||
|
||||
const store = usePStore();
|
||||
|
||||
const weights = computed({
|
||||
get: () => store.weights,
|
||||
set: (value) => store.setWeights(value),
|
||||
});
|
||||
|
||||
const updateWeight = (index, newValue) => {
|
||||
const newWeights = weights.value.slice();
|
||||
newWeights[index] = newValue;
|
||||
store.setWeights(newWeights);
|
||||
store.setTrigger();
|
||||
};
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.h-weight-tuner {
|
||||
height: 140px;
|
||||
}
|
||||
.h-weight-container {
|
||||
height: 180px;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
justify-content: space-between;
|
||||
align-items: center;
|
||||
}
|
||||
.h-slider-margin-bottom {
|
||||
margin-bottom: 0; /* adjust this value as necessary */
|
||||
}
|
||||
.h-checkbox-bottom {
|
||||
padding: 5px 0 0 0;
|
||||
}
|
||||
</style>
|
||||
95
InteractiveRobot/src/components/WeightTunerVertical.vue
Normal file
95
InteractiveRobot/src/components/WeightTunerVertical.vue
Normal file
@ -0,0 +1,95 @@
|
||||
<template>
|
||||
<v-row no-gutters justify="center" class="v-weight-tuner">
|
||||
<!-- eslint-disable-next-line -->
|
||||
<v-col v-for="(_ , idx) in weights_y" :key="idx"
|
||||
class="v-column"
|
||||
:style="{ height: `calc(100% / ${nrweights})` }"
|
||||
>
|
||||
<div class="v-weight-container">
|
||||
<v-row no-gutters justify="space-between">
|
||||
<v-col class="v-column-content">
|
||||
<vue-slider
|
||||
class="v-slider-margin-bottom"
|
||||
v-model="weights_y[idx]"
|
||||
@change="updateWeight(idx, $event)"
|
||||
direction="ltr"
|
||||
:min="-1"
|
||||
:max="1"
|
||||
:interval="0.01"
|
||||
:style="{}"
|
||||
/>
|
||||
</v-col>
|
||||
<v-col class="v-column-content" :style="{ flexGrow: 0 }">
|
||||
<v-checkbox
|
||||
density="compact"
|
||||
class="ma-0 v-checkbox-bottom"
|
||||
v-model="store.weights_fixed_y[idx]"
|
||||
/>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</div>
|
||||
</v-col>
|
||||
</v-row>
|
||||
</template>
|
||||
|
||||
<script setup>
|
||||
import { usePStore } from "@/store/PolicyStore";
|
||||
|
||||
import VueSlider from "vue-slider-component";
|
||||
import "vue-slider-component/theme/default.css";
|
||||
import { computed } from "vue";
|
||||
|
||||
const store = usePStore();
|
||||
|
||||
const nrweights = computed(() => store.nr_weights);
|
||||
|
||||
const weights_y = computed({
|
||||
get: () => store.weights_y,
|
||||
set: (value) => store.setWeights_y(value),
|
||||
});
|
||||
|
||||
const updateWeight = (index, newValue) => {
|
||||
const newWeights = weights_y.value.slice();
|
||||
newWeights[index] = newValue;
|
||||
store.setWeights_y(newWeights);
|
||||
store.setTrigger();
|
||||
};
|
||||
</script>
|
||||
|
||||
<style scoped>
|
||||
.v-weight-tuner {
|
||||
width: 100%;
|
||||
height: 100%;
|
||||
margin-left: 10px;
|
||||
}
|
||||
|
||||
.v-column {
|
||||
margin: 0 !important;
|
||||
padding: 0 !important;
|
||||
display: flex;
|
||||
flex-direction: row;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
.v-column-content {
|
||||
}
|
||||
|
||||
.v-weight-container {
|
||||
width: 100%;
|
||||
}
|
||||
|
||||
.v-slider-margin-bottom {
|
||||
margin-bottom: 0;
|
||||
width: 140px !important;
|
||||
align-self: center;
|
||||
padding-top: 12% !important;
|
||||
}
|
||||
|
||||
.v-checkbox-bottom {
|
||||
display: flex;
|
||||
flex-direction: row;
|
||||
justify-content: space-evenly;
|
||||
align-items: center;
|
||||
min-height: 0;
|
||||
}
|
||||
</style>
|
||||
19
InteractiveRobot/src/js_funs/online_rbf_policy.js
Normal file
19
InteractiveRobot/src/js_funs/online_rbf_policy.js
Normal file
@ -0,0 +1,19 @@
|
||||
function rbf(x, centre, sigma) {
|
||||
return Math.exp(-Math.pow(x - centre, 2) / (2 * Math.pow(sigma, 2)));
|
||||
}
|
||||
|
||||
export function computeRbfCurve(nrPoints, weights) {
|
||||
const centers = Array.from(
|
||||
{ length: weights.length },
|
||||
(_, i) => (i * nrPoints) / (weights.length - 1)
|
||||
);
|
||||
const sigma = centers[1] / (2 * Math.sqrt(2 * Math.log(2)));
|
||||
|
||||
let policy = Array(nrPoints).fill(0);
|
||||
for (let x = 0; x < nrPoints; x++) {
|
||||
for (let i = 0; i < centers.length; i++) {
|
||||
policy[x] += weights[i] * rbf(x, centers[i], sigma);
|
||||
}
|
||||
}
|
||||
return policy;
|
||||
}
|
||||
28
InteractiveRobot/src/main.ts
Normal file
28
InteractiveRobot/src/main.ts
Normal file
@ -0,0 +1,28 @@
|
||||
import { createApp } from "vue";
|
||||
|
||||
// Pinia Store
|
||||
import { createPinia } from "pinia";
|
||||
|
||||
// Vuetify
|
||||
import "vuetify/styles";
|
||||
import { createVuetify } from "vuetify";
|
||||
import * as components from "vuetify/components";
|
||||
import * as directives from "vuetify/directives";
|
||||
import "@mdi/font/css/materialdesignicons.css";
|
||||
|
||||
import App from "./App.vue";
|
||||
|
||||
const pinia = createPinia();
|
||||
const vuetify = createVuetify({
|
||||
theme: {
|
||||
defaultTheme: "dark",
|
||||
},
|
||||
components,
|
||||
directives,
|
||||
});
|
||||
|
||||
const app = createApp(App);
|
||||
|
||||
app.use(pinia);
|
||||
app.use(vuetify);
|
||||
app.mount("#app");
|
||||
27
InteractiveRobot/src/store/BaseWebsiteStore.js
Normal file
27
InteractiveRobot/src/store/BaseWebsiteStore.js
Normal file
@ -0,0 +1,27 @@
|
||||
import { defineStore } from "pinia";
|
||||
|
||||
export const useBWStore = defineStore("Base Website Store", {
|
||||
state: () => {
|
||||
return {
|
||||
play: false,
|
||||
rosBarOpened: true,
|
||||
rosConState: "not connected",
|
||||
};
|
||||
},
|
||||
getters: {
|
||||
getPlay: (state) => state.play,
|
||||
getRosBarOpened: (state) => state.rosBarOpened,
|
||||
getRosConState: (state) => state.rosConState,
|
||||
},
|
||||
actions: {
|
||||
setPlay() {
|
||||
this.play = !this.play;
|
||||
},
|
||||
toggleRosBar() {
|
||||
this.rosBarOpened = !this.rosBarOpened;
|
||||
},
|
||||
setRosConState(value) {
|
||||
this.rosConState = value;
|
||||
},
|
||||
},
|
||||
});
|
||||
81
InteractiveRobot/src/store/ControlStore.js
Normal file
81
InteractiveRobot/src/store/ControlStore.js
Normal file
@ -0,0 +1,81 @@
|
||||
import { defineStore } from "pinia";
|
||||
|
||||
export const useCStore = defineStore("Control Store", {
|
||||
state: () => {
|
||||
return {
|
||||
env: "Reacher",
|
||||
envs: ["Reacher", "Finger"],
|
||||
env_dim: {
|
||||
Reacher: 2,
|
||||
Finger: 2,
|
||||
},
|
||||
metric: "random",
|
||||
metrics: ["random", "regular", "improvement", "max_acquisition"],
|
||||
metrics_label: {
|
||||
random: "Probability",
|
||||
regular: "Repetition",
|
||||
improvement: "Improvement Threshold",
|
||||
max_acquisition: "Threshold",
|
||||
},
|
||||
metric_limits: {
|
||||
random: [0.0, 1.0, 0.01],
|
||||
regular: [1, 100, 1],
|
||||
improvement: [0.0, 1.0, 0.01],
|
||||
max_acquisition: [1, 200, 1],
|
||||
},
|
||||
acq_fun: "Expected Improvement",
|
||||
acq_funs: [
|
||||
"Expected Improvement",
|
||||
"Probability of Improvement",
|
||||
"Upper Confidence Bound",
|
||||
"Preference Expected Improvement",
|
||||
],
|
||||
nr_episodes: 50,
|
||||
nr_runs: 10,
|
||||
metric_parameter: 0.5,
|
||||
improvement_2: 5,
|
||||
sendWeights: false,
|
||||
runner: false,
|
||||
fixed_seed: true,
|
||||
save_result: true,
|
||||
overwrite: false,
|
||||
};
|
||||
},
|
||||
getters: {
|
||||
getEnv: (state) => state.env,
|
||||
getEnvdims: (state) => state.env_dims,
|
||||
getMetric: (state) => state.metric,
|
||||
getNrEpisodes: (state) => state.nr_episodes,
|
||||
getNrRuns: (state) => state.nr_runs,
|
||||
getMetricParameter: (state) => state.metric_parameter,
|
||||
getSendWeights: (state) => state.sendWeights,
|
||||
getRunner: (state) => state.runner,
|
||||
getAcq: (state) => state.acq_fun,
|
||||
},
|
||||
actions: {
|
||||
setEnv(value) {
|
||||
this.env = value;
|
||||
},
|
||||
setMetric(value) {
|
||||
this.metric = value;
|
||||
},
|
||||
setNrEpisodes(value) {
|
||||
this.nr_episodes = value;
|
||||
},
|
||||
setNrRuns(value) {
|
||||
this.nr_runs = value;
|
||||
},
|
||||
setMetricParameter(value) {
|
||||
this.metric_parameter = value;
|
||||
},
|
||||
setSendWeights() {
|
||||
this.sendWeights = !this.sendWeights;
|
||||
},
|
||||
setRunner() {
|
||||
this.runner = !this.runner;
|
||||
},
|
||||
setAcq(value) {
|
||||
this.acq_fun = value;
|
||||
},
|
||||
},
|
||||
});
|
||||
63
InteractiveRobot/src/store/PolicyStore.js
Normal file
63
InteractiveRobot/src/store/PolicyStore.js
Normal file
@ -0,0 +1,63 @@
|
||||
import { defineStore } from "pinia";
|
||||
|
||||
export const usePStore = defineStore("Policy Store", {
|
||||
state: () => {
|
||||
return {
|
||||
policy: Array(10).fill(0),
|
||||
policy_y: Array(10).fill(0),
|
||||
nr_weights: 5,
|
||||
weights: [0, 0, 0, 0, 0],
|
||||
weights_y: [0, 0, 0, 0, 0],
|
||||
weights_fixed: [false, false, false, false, false],
|
||||
weights_fixed_y: [false, false, false, false, false],
|
||||
max_steps: 100,
|
||||
trigger: false,
|
||||
};
|
||||
},
|
||||
getters: {
|
||||
getPolicy: (state) => state.policy,
|
||||
getPolicy_y: (state) => state.policy_y,
|
||||
getNrWeights: (state) => state.nr_weights,
|
||||
getWeights_Fixed: (state) => state.weights_fixed,
|
||||
getWeights: (state) => state.weights,
|
||||
getWeights_Fixed_y: (state) => state.weights_fixed_y,
|
||||
getWeights_y: (state) => state.weights_y,
|
||||
getMaxSteps: (state) => state.max_steps,
|
||||
getTrigger: (state) => state.trigger,
|
||||
},
|
||||
actions: {
|
||||
setPolicy(value) {
|
||||
this.policy = null;
|
||||
this.policy = value;
|
||||
},
|
||||
setPolicy_y(value) {
|
||||
this.policy_y = null;
|
||||
this.policy_y = value;
|
||||
},
|
||||
setNrWeights(value) {
|
||||
this.nr_weights = value;
|
||||
this.weights = Array(this.nr_weights).fill(0);
|
||||
this.weights_fixed = Array(this.nr_weights).fill(false);
|
||||
this.weights_y = Array(this.nr_weights).fill(0);
|
||||
this.weights_fixed_y = Array(this.nr_weights).fill(false);
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
setWeights(value) {
|
||||
this.weights = value;
|
||||
},
|
||||
setWeights_y(value) {
|
||||
this.weights_y = value;
|
||||
},
|
||||
setMaxSteps(value) {
|
||||
this.max_steps = value;
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
setTrigger() {
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
resetWeights_Fixed() {
|
||||
this.weights_fixed = Array(this.nr_weights).fill(false);
|
||||
this.weights_fixed_y = Array(this.nr_weights).fill(false);
|
||||
},
|
||||
},
|
||||
});
|
||||
58
InteractiveRobot/src/store/RLStore.js
Normal file
58
InteractiveRobot/src/store/RLStore.js
Normal file
@ -0,0 +1,58 @@
|
||||
import { defineStore } from "pinia";
|
||||
|
||||
export const useRLStore = defineStore("RL Store", {
|
||||
state: () => {
|
||||
return {
|
||||
red: Array(153600).fill(120),
|
||||
green: Array(153600).fill(120),
|
||||
blue: Array(153600).fill(120),
|
||||
width: 480,
|
||||
height: 320,
|
||||
current_time: 0,
|
||||
current_run: 0,
|
||||
current_episode: 0,
|
||||
best_reward: 0.0,
|
||||
last_user_reward: 0.0,
|
||||
trigger: false,
|
||||
};
|
||||
},
|
||||
getters: {
|
||||
getRed: (state) => state.red,
|
||||
getGreen: (state) => state.green,
|
||||
getBlue: (state) => state.blue,
|
||||
getHeight: (state) => state.height,
|
||||
getWidth: (state) => state.width,
|
||||
getCurrentTime: (state) => state.current_time,
|
||||
getCurrentRun: (state) => state.current_run,
|
||||
getCurrentEpisode: (state) => state.current_episode,
|
||||
getBestReward: (state) => state.best_reward,
|
||||
getLastUserReward: (state) => state.last_user_reward,
|
||||
},
|
||||
actions: {
|
||||
setRgbArrays(red, green, blue) {
|
||||
this.red = red;
|
||||
this.green = green;
|
||||
this.blue = blue;
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
setDim(height, width) {
|
||||
this.height = height;
|
||||
this.width = width;
|
||||
},
|
||||
setCurrentTime(value) {
|
||||
this.current_time = value;
|
||||
},
|
||||
setCurrentRun(value) {
|
||||
this.current_run = value;
|
||||
},
|
||||
setCurrentEpisode(value) {
|
||||
this.current_episode = value;
|
||||
},
|
||||
setBestReward(value) {
|
||||
this.best_reward = value;
|
||||
},
|
||||
setLastUserReward(value) {
|
||||
this.last_user_reward = value;
|
||||
},
|
||||
},
|
||||
});
|
||||
30
InteractiveRobot/src/store/RewardStore.js
Normal file
30
InteractiveRobot/src/store/RewardStore.js
Normal file
@ -0,0 +1,30 @@
|
||||
import { defineStore } from "pinia";
|
||||
|
||||
export const useRStore = defineStore("Reward Store", {
|
||||
state: () => {
|
||||
return {
|
||||
reward_mean: [],
|
||||
reward_std: [],
|
||||
trigger: false,
|
||||
};
|
||||
},
|
||||
getters: {
|
||||
getMean: (state) => state.reward_mean,
|
||||
getStd: (state) => state.reward_std,
|
||||
getTrigger: (state) => state.trigger,
|
||||
},
|
||||
actions: {
|
||||
setMean(value) {
|
||||
this.reward_mean = value;
|
||||
},
|
||||
setStd(value) {
|
||||
this.reward_std = value;
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
addMeanManually(value) {
|
||||
this.reward_mean[this.reward_mean.length] = value;
|
||||
this.reward_std[this.reward_std.length] = 0;
|
||||
this.trigger = !this.trigger;
|
||||
},
|
||||
},
|
||||
});
|
||||
8
InteractiveRobot/tsconfig.config.json
Normal file
8
InteractiveRobot/tsconfig.config.json
Normal file
@ -0,0 +1,8 @@
|
||||
{
|
||||
"extends": "@vue/tsconfig/tsconfig.node.json",
|
||||
"include": ["vite.config.*", "vitest.config.*", "cypress.config.*", "playwright.config.*"],
|
||||
"compilerOptions": {
|
||||
"composite": true,
|
||||
"types": ["node"]
|
||||
}
|
||||
}
|
||||
16
InteractiveRobot/tsconfig.json
Normal file
16
InteractiveRobot/tsconfig.json
Normal file
@ -0,0 +1,16 @@
|
||||
{
|
||||
"extends": "@vue/tsconfig/tsconfig.web.json",
|
||||
"include": ["env.d.ts", "src/**/*", "src/**/*.vue"],
|
||||
"compilerOptions": {
|
||||
"baseUrl": ".",
|
||||
"paths": {
|
||||
"@/*": ["./src/*"]
|
||||
}
|
||||
},
|
||||
|
||||
"references": [
|
||||
{
|
||||
"path": "./tsconfig.config.json"
|
||||
}
|
||||
]
|
||||
}
|
||||
15
InteractiveRobot/vite.config.ts
Normal file
15
InteractiveRobot/vite.config.ts
Normal file
@ -0,0 +1,15 @@
|
||||
import { fileURLToPath, URL } from "node:url";
|
||||
|
||||
import { defineConfig } from "vite";
|
||||
import vue from "@vitejs/plugin-vue";
|
||||
import vueJsx from "@vitejs/plugin-vue-jsx";
|
||||
|
||||
// https://vitejs.dev/config/
|
||||
export default defineConfig({
|
||||
plugins: [vue(), vueJsx()],
|
||||
resolve: {
|
||||
alias: {
|
||||
"@": fileURLToPath(new URL("./src", import.meta.url)),
|
||||
},
|
||||
},
|
||||
});
|
||||
Loading…
Reference in New Issue
Block a user