do not reuse the controller in each iteration

nworb-cire · May 7, 2024 · 0ee669a · 0ee669a
1 parent ec68106
commit 0ee669a
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/eval.py b/eval.py
@@ -72,8 +72,6 @@ def create_report(test, baseline, sample_rollouts, costs):
   args = parser.parse_args()
 
   tinyphysicsmodel = TinyPhysicsModel(args.model_path, debug=False)
-  test_controller = CONTROLLERS[args.test_controller]()
-  baseline_controller = CONTROLLERS[args.baseline_controller]()
 
   data_path = Path(args.data_path)
   assert data_path.is_dir(), "data_path should be a directory"
@@ -82,6 +80,8 @@ def create_report(test, baseline, sample_rollouts, costs):
   sample_rollouts = []
   files = sorted(data_path.iterdir())[:args.num_segs]
   for d, data_file in enumerate(tqdm(files, total=len(files))):
+    test_controller = CONTROLLERS[args.test_controller]()
+    baseline_controller = CONTROLLERS[args.baseline_controller]()
     test_sim = TinyPhysicsSimulator(tinyphysicsmodel, str(data_file), controller=test_controller, debug=False)
     test_cost = test_sim.rollout()
     baseline_sim = TinyPhysicsSimulator(tinyphysicsmodel, str(data_file), controller=baseline_controller, debug=False)

diff --git a/tinyphysics.py b/tinyphysics.py
@@ -203,17 +203,18 @@ def rollout(self) -> float:
   args = parser.parse_args()
 
   tinyphysicsmodel = TinyPhysicsModel(args.model_path, debug=args.debug)
-  controller = CONTROLLERS[args.controller]()
 
   data_path = Path(args.data_path)
   if data_path.is_file():
+    controller = CONTROLLERS[args.controller]()
     sim = TinyPhysicsSimulator(tinyphysicsmodel, args.data_path, controller=controller, debug=args.debug)
     costs = sim.rollout()
     print(f"\nAverage lataccel_cost: {costs['lataccel_cost']:>6.4}, average jerk_cost: {costs['jerk_cost']:>6.4}, average total_cost: {costs['total_cost']:>6.4}")
   elif data_path.is_dir():
     costs = []
     files = sorted(data_path.iterdir())[:args.num_segs]
     for data_file in tqdm(files, total=len(files)):
+      controller = CONTROLLERS[args.controller]()
       sim = TinyPhysicsSimulator(tinyphysicsmodel, str(data_file), controller=controller, debug=args.debug)
       cost = sim.rollout()
       costs.append(cost)