Datasets:
vshwanilgv
/
wenavigate-ppo-evaluation-v2

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ppo 20 0.40 16/20 0.566 0.005 0.743m 229.8
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6
random 20 0.05 19/20 0.176 0.110 0.524m -0.4
==============================================================================
PPO reduces collisions by 94.2% vs Scripted
PPO intent rate +32.8pp vs Scripted
PPO collision-free: 16/20 Scripted collision-free: 15/20
WeNavigate Evaluation
Checkpoint: ./ppo_checkpoints2/policy_update_00950.pt
Episodes: 20
Controllers: ['ppo', 'scripted', 'random']
Elapsed: 10s
==============================================================================
WeNavigate Controller Evaluation Summary
==============================================================================
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward
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ppo 20 3.80 2/20 0.669 0.003 0.692m 256.7
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6
random 20 0.05 19/20 0.176 0.110 0.524m -0.4
==============================================================================
PPO reduces collisions by 45.3% vs Scripted
PPO intent rate +43.1pp vs Scripted
PPO collision-free: 2/20 Scripted collision-free: 15/20
WeNavigate Evaluation
Checkpoint: ./ppo_checkpoints2/policy_update_00100.pt
Episodes: 20
Controllers: ['ppo', 'scripted', 'random']
Elapsed: 10s
==============================================================================
WeNavigate Controller Evaluation Summary
==============================================================================
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward
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ppo 20 2.40 3/20 0.412 0.005 0.651m 115.4
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6
random 20 0.05 19/20 0.176 0.110 0.524m -0.4
==============================================================================
PPO reduces collisions by 65.5% vs Scripted
PPO intent rate +17.4pp vs Scripted
PPO collision-free: 3/20 Scripted collision-free: 15/20
WeNavigate Evaluation
Checkpoint: ./ppo_checkpoints2/policy_update_00976.pt
Episodes: 20
Controllers: ['ppo', 'scripted', 'random']
Elapsed: 10s
==============================================================================
WeNavigate Controller Evaluation Summary
==============================================================================
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward
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ppo 20 29.25 0/20 0.726 0.003 0.622m 35.3
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6
random 20 0.05 19/20 0.176 0.110 0.524m -0.4
==============================================================================
PPO reduces collisions by -320.9% vs Scripted
PPO intent rate +48.8pp vs Scripted
PPO collision-free: 0/20 Scripted collision-free: 15/20
WeNavigate Evaluation
Checkpoint: ./ppo_checkpoints2/policy_update_00150.pt
Episodes: 20
Controllers: ['ppo', 'scripted', 'random']
Elapsed: 10s
==============================================================================
WeNavigate Controller Evaluation Summary
==============================================================================
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward
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ppo 20 6.65 0/20 0.527 0.003 0.691m 143.0
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6
random 20 0.05 19/20 0.176 0.110 0.524m -0.4
==============================================================================
PPO reduces collisions by 4.3% vs Scripted
PPO intent rate +28.9pp vs Scripted
PPO collision-free: 0/20 Scripted collision-free: 15/20
WeNavigate Evaluation
Checkpoint: ./ppo_checkpoints2/policy_update_00200.pt
Episodes: 20
Controllers: ['ppo', 'scripted', 'random']
Elapsed: 10s
==============================================================================
WeNavigate Controller Evaluation Summary
==============================================================================
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward
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ppo 20 4.45 4/20 0.465 0.002 0.716m 128.1
scripted 20 6.95 15/20 0.238 0.701 0.308m -70.6
random 20 0.05 19/20 0.176 0.110 0.524m -0.4
==============================================================================