| from pathlib import Path |
| import json |
| import matplotlib |
| matplotlib.use('Agg') |
| import matplotlib.pyplot as plt |
| from matplotlib.lines import Line2D |
|
|
| ROOT=Path(__file__).resolve().parent |
| rows=json.loads((ROOT/'per_instance.json').read_text()) |
| transitions=json.loads((ROOT/'transitions.json').read_text()) |
| variants=['human','codegen_success','mix_h50_c50'] |
| labels=['Human','Codegen','Mix 50:50'] |
| colors=['#177c76','#ce5835','#6956a7'] |
| fig,axes=plt.subplots(3,3,figsize=(14,8),sharex=True,sharey=True) |
| for col,instance in enumerate([303,304,312]): |
| for row,(v,label,color) in enumerate(zip(variants,labels,colors)): |
| ax=axes[row,col] |
| r=next(r for r in rows if r['variant']==v and r['instance_id']==instance) |
| tr=transitions[f'{v}/{instance}'] |
| x=[0]+[c['step'] for c in tr]+[r['steps']] |
| y=[0]+[c['after'] for c in tr]+[tr[-1]['after'] if tr else 0] |
| ax.step(x,y,where='post',color=color,lw=1.5) |
| resets=[c for c in tr if c['kind']=='Stage corrected'] |
| ax.scatter([c['step'] for c in resets],[c['after'] for c in resets],color='#be2432',s=17,zorder=5) |
| ax.scatter([r['steps']],[y[-1]],marker='o' if r['success'] else 'x',s=55,color=color,zorder=6) |
| outcome='SUCCESS' if r['success'] else 'TIMEOUT' |
| ax.text(.03,.96,f"{label}: {outcome}\n4→2 resets: {r['stage4_resets']} | action overrides: {r['action_modified']}",transform=ax.transAxes,va='top',fontsize=9,bbox=dict(facecolor='white',alpha=.9,edgecolor='none')) |
| ax.set_ylim(-.2,5.6);ax.set_yticks(range(5));ax.set_xlim(0,3330) |
| ax.grid(alpha=.16) |
| if row==0:ax.set_title(f'Instance {instance}',weight='bold') |
| if col==0:ax.set_ylabel('Wrapper stage') |
| if row==2:ax.set_xlabel('Simulator steps') |
| fig.suptitle('Task 00: stage cycling and action intervention in recorded runs',fontsize=15,weight='bold') |
| fig.text(.5,.025,'Red dots: heuristic stage reset 4→2. Curves reconstructed from every logged stage transition.\nAction overrides replace the predicted chunk with current state and opened gripper(s).',ha='center',fontsize=10) |
| fig.tight_layout(rect=[0,.08,1,.95]) |
| fig.savefig(ROOT/'stage_timelines.png',dpi=170) |
| fig.savefig(ROOT/'stage_timelines.pdf') |
|
|
