initial

src/InteractionMetrics/InteractionMetrics/Improvement.py

@@ -0,0 +1,21 @@
+class ImprovementQuery:
+    def __init__(self, threshold, period, last_query, rewards):
+        self.threshold = threshold
+        self.period = period
+        self.last_query = last_query
+        self.rewards = rewards
+
+    def query(self):
+        if self.rewards.shape[0] < self.period + 1:
+            return False
+
+        elif self.rewards.shape[0] < self.last_query + self.period + 1:
+            return False
+
+        else:
+            first = self.rewards[-self.period-1]
+            last = self.rewards[-1]
+
+            slope = (last - first) / self.period
+
+            return slope < self.threshold

src/InteractionMetrics/InteractionMetrics/MaxAcquisition.py

@@ -0,0 +1,55 @@
+import numpy as np
+from scipy.stats import norm
+
+
+class MaxAcqQuery:
+    def __init__(self, threshold, gp,
+                 nr_test, nr_weights,
+                 lower=-1.0, upper=1.0,
+                 acq="Expected Improvement",
+                 **kwargs):
+        self.threshold = threshold
+        self.gp = gp
+        self.nr_test = nr_test
+        self.nr_weights = nr_weights
+        self.lower = lower
+        self.upper = upper
+        self.acq = acq
+
+        self.seed = kwargs.get('seed', None)
+        self.kappa = kwargs.get('kappa', 2.576)
+        self.beta = kwargs.get('beta', 1.2)
+        self.X = kwargs.get('X', None)
+
+        self.rng = np.random.default_rng(self.seed)
+
+    def query(self):
+        X_test = self.rng.uniform(self.lower, self.upper, (self.nr_test, self.nr_weights))
+        max_acq = 0
+
+        if self.acq == "Expected Improvement":
+            if self.X is None:
+                raise ValueError
+            y_hat = self.gp.predict(self.X)
+            best_y = max(y_hat)
+            mu, sigma = self.gp.predict(X_test, return_std=True)
+            z = (mu - best_y - self.kappa) / sigma
+            ei = (mu - best_y - self.kappa) * norm.cdf(z) + sigma * norm.pdf(z)
+            max_acq = np.max(ei)
+
+        if self.acq == "Probability of Improvement":
+            if self.X is None:
+                raise ValueError
+            y_hat = self.gp.predict(self.X)
+            best_y = max(y_hat)
+            mu, sigma = self.gp.predict(X_test, return_std=True)
+            z = (mu - best_y - self.kappa) / sigma
+            pi = norm.cdf(z)
+            max_acq = np.max(pi)
+
+        if self.acq == "Upper Confidence Bound":
+            mu, sigma = self.gp.predict(X_test, return_std=True)
+            cb = mu + self.beta * sigma
+            max_acq = np.max(cb)
+
+        return max_acq > self.threshold

src/InteractionMetrics/InteractionMetrics/Random.py

@@ -0,0 +1,11 @@
+import numpy as np
+
+
+class RandomQuery:
+    def __init__(self, threshold):
+        self.threshold = threshold
+        self.random = np.random.uniform(0.0, 1.0, 1)
+
+    def query(self):
+        return self.random > self.threshold
+    

src/InteractionMetrics/InteractionMetrics/Regular.py

@@ -0,0 +1,12 @@
+class RegularQuery:
+    def __init__(self, regular, episode):
+        self.regular = int(regular)
+        self.counter = episode
+
+    def query(self):
+
+        if self.counter % self.regular == 0 and self.counter != 0:
+            return True
+
+        else:
+            return False

src/Tasks/package.xml

@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>Tasks</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="nikolaus.feith@unileoben.ac.at">niko</maintainer>
-  <license>TODO: License declaration</license>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>

src/Tasks/setup.cfg

@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/Tasks
-[install]
-install_scripts=$base/lib/Tasks

src/Tasks/setup.py

@@ -1,25 +0,0 @@
-from setuptools import find_packages, setup
-
-package_name = 'Tasks'
-
-setup(
-    name=package_name,
-    version='0.0.0',
-    packages=find_packages(exclude=['test']),
-    data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    maintainer='niko',
-    maintainer_email='nikolaus.feith@unileoben.ac.at',
-    description='TODO: Package description',
-    license='TODO: License declaration',
-    tests_require=['pytest'],
-    entry_points={
-        'console_scripts': [
-        ],
-    },
-)

src/Tasks/test/test_copyright.py

@@ -1,25 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'

src/Tasks/test/test_flake8.py

@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)

src/Tasks/test/test_pep257.py

@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'