def _evaluation_paths()

in MTRF/algorithms/softlearning/algorithms/phased_sac.py [0:0]

• 39 lines of code
• 14 McCabe index (conditional complexity)

    def _evaluation_paths(self):
        if self._epoch > 0 and self._eval_n_episodes < 1 and self.fake_eval_paths is not None:
            return ()

        if (self._epoch == 0 or self.fake_eval_paths is None) and self._eval_n_episodes < 1:
            # Do one round of evaluation in order to get a bunch of logs to fill in empty training phases
            eval_n_episodes = 1
        else:
            eval_n_episodes = self._eval_n_episodes

        should_save_video = (
            self._video_save_frequency > 0
            and self._epoch % self._video_save_frequency == 0)

        paths = []
        for goal_index in range(self._num_goals):
            with self._policies[goal_index].set_deterministic(self._eval_deterministic):
                self._evaluation_environment.set_goal(goal_index)
                self._evaluation_environment.reset()
                paths.append(
                    rollouts(
                        eval_n_episodes,
                        self._evaluation_environment,
                        self._policies[goal_index],
                        self._samplers[goal_index]._max_path_length,
                        render_kwargs=(self._eval_render_kwargs
                                       if should_save_video else {})
                    )
                )

        # TODO: interleave videos from different policies
        if should_save_video:
            # fps = 1 // getattr(self._evaluation_environment, 'dt', 1/30)
            for rollout_num in range(len(paths[0])):
                video_frames = []
                for goal_index in range(self._num_goals):
                    video_frames.append(paths[goal_index][rollout_num].pop('images'))
                video_frames = np.concatenate(video_frames)
                video_file_name = f'evaluation_path_{self._epoch}_{rollout_num}.mp4'
                video_file_path = os.path.join(
                    os.getcwd(), 'videos', video_file_name)
                fps = 60
                save_video(video_frames, video_file_path, fps=fps)

        if self._eval_n_episodes < 1:
            self.fake_eval_paths = paths

        return paths