Merge remote-tracking branch 'origin/trial_reward' into grasp_pytorch…

…0.4+
jhu-lcsr · Sep 15, 2019 · f9bf238 · f9bf238
2 parents 8c3e0ba + 584f5b2
commit f9bf238
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Showing 6 changed files with 257 additions and 427 deletions.
diff --git a/main.py b/main.py
@@ -656,9 +656,11 @@ def process_actions():
             empty_threshold = 10
         if check_row:
             # here we are assuming blocks for check_row, if any block leaves the scene then we can't succeed.
-            # TODO(ahundt) is adding num_extra_obj appropriate?
-            # TODO(ahundt) is applying this threshold to place appropriate? probably not unless volume is also accounted for, a perfect stack is about the area of 1 block.
-            empty_threshold = 300 * (num_obj + num_extra_obj)
+            # TODO(ahundt) Ideally volume should also be accounted for, a perfect stack is about the area of 1 block, and the scene might start with a stack.
+            num_empty_obj = num_obj
+            if is_testing:
+                num_empty_obj -= 1
+            empty_threshold = 300 * (num_empty_obj + num_extra_obj)
         if np.sum(stuff_count) < empty_threshold or (is_sim and no_change_count[0] + no_change_count[1] > 10):
             if is_sim:
                 print('There have not been changes to the objects for for a long time [push, grasp]: ' + str(no_change_count) +

diff --git a/plot_success_rate/.ipynb_checkpoints/calculate_successes-checkpoint.ipynb b/plot_success_rate/.ipynb_checkpoints/calculate_successes-checkpoint.ipynb
diff --git a/plot_success_rate/2019-09-13.19-55-21-train-rows-no-images-16.5k_success_plot.pdf b/plot_success_rate/2019-09-13.19-55-21-train-rows-no-images-16.5k_success_plot.pdf
diff --git a/plot_success_rate/any-stack-v2-steps-37k_success_plot.pdf b/plot_success_rate/any-stack-v2-steps-37k_success_plot.pdf
diff --git a/plot_success_rate/calculate_successes.ipynb b/plot_success_rate/calculate_successes.ipynb
diff --git a/plot_success_rate/train-grasp-place-split-efficientnet-21k-acc_success_plot.pdf b/plot_success_rate/train-grasp-place-split-efficientnet-21k-acc_success_plot.pdf