| """Paired comparison of two policy evaluations on the same scenes (same --seed in eval_policy.py). |
| |
| Reads each run's eval_results.json, or eval_episodes.jsonl if the run was stopped, and pairs |
| episodes by index (only indices both runs finished). Reports success per model, the discordant |
| pairs with an exact two-sided McNemar test, results per piece, and the grasp measurements. |
| |
| Run: .venv/bin/python sim/paired_compare.py A=sim/reports/dart_eval/baseline B=sim/reports/dart_eval/dart \ |
| --out sim/reports/dart_eval/paired.md |
| """ |
| from __future__ import annotations |
|
|
| import argparse |
| import json |
| from math import comb |
| from pathlib import Path |
| from statistics import median |
|
|
|
|
| def load(path: Path) -> dict: |
| f = path / "eval_results.json" |
| if f.exists(): |
| eps = json.loads(f.read_text())["episodes"] |
| else: |
| eps = [json.loads(line) for line in (path / "eval_episodes.jsonl").read_text().splitlines() if line.strip()] |
| return {e["index"]: e for e in eps} |
|
|
|
|
| def mcnemar(b: int, c: int) -> float: |
| n = b + c |
| if n == 0: |
| return 1.0 |
| k = min(b, c) |
| return min(1.0, 2 * sum(comb(n, i) for i in range(k + 1)) / 2 ** n) |
|
|
|
|
| def med(values): |
| values = [v for v in values if v is not None] |
| return round(median(values), 1) if values else None |
|
|
|
|
| def main(): |
| ap = argparse.ArgumentParser(description=__doc__) |
| ap.add_argument("runs", nargs=2, help="NAME=path to an eval_policy.py output folder") |
| ap.add_argument("--out") |
| args = ap.parse_args() |
| (na, pa), (nb, pb) = (r.split("=", 1) for r in args.runs) |
| A, B = load(Path(pa)), load(Path(pb)) |
| idx = sorted(set(A) & set(B)) |
| n = len(idx) |
| sa = sum(A[i]["success"] for i in idx) |
| sb = sum(B[i]["success"] for i in idx) |
| only_a = sum(A[i]["success"] and not B[i]["success"] for i in idx) |
| only_b = sum(B[i]["success"] and not A[i]["success"] for i in idx) |
| lines = [f"# Paired comparison: {na} vs {nb}", "", |
| f"{n} scenes finished by both ({na}: {len(A)}, {nb}: {len(B)}).", "", |
| "| | " + na + " | " + nb + " |", "|---|---|---|", |
| f"| success | {sa}/{n} ({100 * sa / max(n, 1):.1f}%) | {sb}/{n} ({100 * sb / max(n, 1):.1f}%) |"] |
| for piece in sorted({A[i]["piece"] for i in idx}): |
| ids = [i for i in idx if A[i]["piece"] == piece] |
| lines.append(f"| {piece}s | {sum(A[i]['success'] for i in ids)}/{len(ids)} | {sum(B[i]['success'] for i in ids)}/{len(ids)} |") |
| for key, label in (("lifted", "piece lifted"),): |
| lines.append(f"| {label} | {sum(bool(A[i].get(key)) for i in idx)} | {sum(bool(B[i].get(key)) for i in idx)} |") |
| for key, label in (("close_lateral_mm", "sideways error when closing, median mm"), |
| ("closest_mm", "closest approach to the piece, median mm")): |
| if any(key in A[i] for i in idx): |
| lines.append(f"| {label} | {med(A[i].get(key) for i in idx)} | {med(B[i].get(key) for i in idx)} |") |
| lines += ["", f"Discordant scenes: only {na} succeeded {only_a}, only {nb} succeeded {only_b}; " |
| f"exact McNemar p = {mcnemar(only_a, only_b):.3g}. Both succeeded " |
| f"{sum(A[i]['success'] and B[i]['success'] for i in idx)}, neither " |
| f"{sum(not A[i]['success'] and not B[i]['success'] for i in idx)}."] |
| moves = sorted({f"{A[i]['source']}-{A[i]['destination']}" for i in idx}) |
| lines += ["", "| move | " + na + " | " + nb + " |", "|---|---|---|"] |
| for mv in moves: |
| ids = [i for i in idx if f"{A[i]['source']}-{A[i]['destination']}" == mv] |
| lines.append(f"| {mv} | {sum(A[i]['success'] for i in ids)}/{len(ids)} | {sum(B[i]['success'] for i in ids)}/{len(ids)} |") |
| text = "\n".join(lines) + "\n" |
| if args.out: |
| Path(args.out).write_text(text) |
| print(text) |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
