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vshwanilgv
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wenavigate-ppo-evaluation-v2

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PPO reduces collisions by 36.0% vs Scripted
PPO intent rate +22.7pp vs Scripted
PPO collision-free: 4/20 Scripted collision-free: 15/20
WeNavigate Evaluation
Checkpoint: ./ppo_checkpoints2/policy_update_00250.pt
Episodes: 20
Controllers: ['ppo', 'scripted', 'random']
Elapsed: 10s
==============================================================================
WeNavigate Controller Evaluation Summary
==============================================================================
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward
------------------------------------------------------------------------------
ppo 20 4.00 5/20 0.524 0.002 0.703m 167.5
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 42.4% vs Scripted
PPO intent rate +28.6pp vs Scripted
PPO collision-free: 5/20 Scripted collision-free: 15/20
WeNavigate Evaluation
Checkpoint: ./ppo_checkpoints2/policy_update_00300.pt
Episodes: 20
Controllers: ['ppo', 'scripted', 'random']
Elapsed: 10s
==============================================================================
WeNavigate Controller Evaluation Summary
==============================================================================
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward
------------------------------------------------------------------------------
ppo 20 5.00 1/20 0.551 0.003 0.682m 171.9
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 28.1% vs Scripted
PPO intent rate +31.3pp vs Scripted
PPO collision-free: 1/20 Scripted collision-free: 15/20
WeNavigate Evaluation
Checkpoint: ./ppo_checkpoints2/policy_update_00350.pt
Episodes: 20
Controllers: ['ppo', 'scripted', 'random']
Elapsed: 10s
==============================================================================
WeNavigate Controller Evaluation Summary
==============================================================================
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward
------------------------------------------------------------------------------
ppo 20 11.75 0/20 0.650 0.005 0.672m 165.2
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 -69.1% vs Scripted
PPO intent rate +41.2pp vs Scripted
PPO collision-free: 0/20 Scripted collision-free: 15/20
WeNavigate Evaluation
Checkpoint: ./ppo_checkpoints2/policy_update_00400.pt
Episodes: 20
Controllers: ['ppo', 'scripted', 'random']
Elapsed: 10s
==============================================================================
WeNavigate Controller Evaluation Summary
==============================================================================
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward
------------------------------------------------------------------------------
ppo 20 5.75 2/20 0.657 0.002 0.731m 230.7
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 17.3% vs Scripted
PPO intent rate +41.9pp vs Scripted
PPO collision-free: 2/20 Scripted collision-free: 15/20
WeNavigate Evaluation
Checkpoint: ./ppo_checkpoints2/policy_update_00450.pt
Episodes: 20
Controllers: ['ppo', 'scripted', 'random']
Elapsed: 10s
==============================================================================
WeNavigate Controller Evaluation Summary
==============================================================================
Controller Episodes Collisions Coll-Free Intent No-op Min-Depth Reward
------------------------------------------------------------------------------
ppo 20 16.65 0/20 0.698 0.002 0.623m 144.0
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 -139.6% vs Scripted
PPO intent rate +46.0pp vs Scripted
PPO collision-free: 0/20 Scripted collision-free: 15/20
WeNavigate Online Evaluation