The following script was used to generate the graphs of Figure 15 of the article "Behavioral Diversity Generation in Autonomous Exploration Through Reuse of Past Experience" by Fabien C. Y. Benureau and Pierre-Yves Oudeyer.
The full code is available and is distributed under the Open Science License. For any questions, remarks or difficulties running this code, contact fabien.benureau@gmail.com.
import experiments
import dotdot
import graphs
from fig15_cluster import pool
REP = 0 # change this to display other runs (provided the data is installed).
expcfgs = pool()
data = experiments.load_explorations([expcfgs[0]], rep=REP)
graphs.output_notebook()
graphs.reuse_coverage(data[0], milestones=(200, 500, 1000),
nor=True, src=False, tgt=True, # no reuse and reuse graphs
grid=True, xgridlines=range(-600, 1401, 200),
ygridlines=range(-400, 1601, 200))
graphs.reuse_coverage(data[0], milestones=(200, 500, 1000),
nor=False, src=True, tgt=False, # source graphs
grid=True, xgridlines=range(-300, 301, 100),
ygridlines=range(-300, 301, 100))
The cluster provenance code examines all the exploration data files of this experiment to check and compare their embedded provenance data.
import provenance
prov_data = provenance.cluster(pool()) # this may take a minute.
print(prov_data.message())