89 lines
2.1 KiB
Python
89 lines
2.1 KiB
Python
from collections import defaultdict
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import numpy as np
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class DistCache:
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def __init__(self):
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"""
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Args:
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n: Number of slots for the cache
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"""
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self.cache = defaultdict(lambda: 0)
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def log(self, **key_vals):
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"""
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Args:
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slots: ids for the array
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**key_vals:
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"""
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for k, v in key_vals.items():
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count = self.cache[k + '@counts'] + 1
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self.cache[k + '@counts'] = count
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self.cache[k] = v + (count - 1) * self.cache[k]
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self.cache[k] /= count
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def get_summary(self):
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ret = {
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k: v
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for k, v in self.cache.items()
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if not k.endswith("@counts")
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}
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self.cache.clear()
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return ret
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if __name__ == '__main__':
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cl = DistCache()
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lin_vel = np.ones((11, 11))
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ang_vel = np.zeros((5, 5))
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cl.log(lin_vel=lin_vel, ang_vel=ang_vel)
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lin_vel = np.zeros((11, 11))
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ang_vel = np.zeros((5, 5))
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cl.log(lin_vel=lin_vel, ang_vel=ang_vel)
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print(cl.get_summary())
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class SlotCache:
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def __init__(self, n):
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"""
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Args:
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n: Number of slots for the cache
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"""
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self.n = n
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self.cache = defaultdict(lambda: np.zeros([n]))
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def log(self, slots=None, **key_vals):
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"""
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Args:
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slots: ids for the array
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**key_vals:
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"""
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if slots is None:
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slots = range(self.n)
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for k, v in key_vals.items():
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counts = self.cache[k + '@counts'][slots] + 1
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self.cache[k + '@counts'][slots] = counts
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self.cache[k][slots] = v + (counts - 1) * self.cache[k][slots]
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self.cache[k][slots] /= counts
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def get_summary(self):
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ret = {
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k: v
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for k, v in self.cache.items()
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if not k.endswith("@counts")
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}
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self.cache.clear()
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return ret
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if __name__ == '__main__':
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cl = SlotCache(100)
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reset_env_ids = [2, 5, 6]
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lin_vel = [0.1, 0.5, 0.8]
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ang_vel = [0.4, -0.4, 0.2]
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cl.log(reset_env_ids, lin_vel=lin_vel, ang_vel=ang_vel)
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cl.log(lin_vel=np.ones(100))
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