gr-libs 0.1.8__py3-none-any.whl → 0.2.5__py3-none-any.whl

evaluation/generate_task_specific_statistics_plots.py

@@ -1,500 +0,0 @@
-import argparse
-import sys
-import matplotlib.pyplot as plt
-import numpy as np
-import os
-import ast
-import inspect
-import torch
-import dill
-
-from gr_libs.ml.utils import get_embeddings_result_path
-from gr_libs.ml.utils.storage import (
-    get_experiment_results_path,
-    set_global_storage_configs,
-    get_graql_experiment_confidence_path,
-)
-from gr_libs.metrics.metrics import measure_average_sequence_distance
-
-
-def get_tasks_embeddings_dir_path(env_name):
-    return os.path.join("../gr_libs", get_embeddings_result_path(env_name))
-
-
-def get_figures_dir_path(domain_name, env_name):
-    return os.path.join("../gr_libs", "figures", domain_name, env_name)
-
-
-def similarities_vector_to_std_deviation_units_vector(
-    ref_dict: dict, relative_to_largest
-):
-    """
-    Calculate the number of standard deviation units every other element is
-    from the largest/smallest element in the vector.
-
-    Parameters:
-    - vector: list or numpy array of numbers.
-    - relative_to_largest: boolean, if True, measure in relation to the largest element,
-                                               if False, measure in relation to the smallest element.
-
-    Returns:
-    - List of number of standard deviation units for each element in the vector.
-    """
-    vector = np.array(list(ref_dict.values()))
-    mean = np.mean(vector)  # for the future maybe another method for measurement
-    std_dev = np.std(vector)
-
-    # Determine the reference element (largest or smallest)
-    if relative_to_largest:
-        reference_value = np.max(vector)
-    else:
-        reference_value = np.min(vector)
-    for goal, value in ref_dict.items():
-        ref_dict[goal] = abs(value - reference_value) / std_dev
-    return ref_dict
-
-
-def analyze_and_produce_plots(
-    recognizer_type: str,
-    domain_name: str,
-    env_name: str,
-    fragmented_status: str,
-    inf_same_length_status: str,
-    learn_same_length_status: str,
-):
-    if recognizer_type == "graml":
-        assert os.path.exists(
-            get_embeddings_result_path(domain_name)
-        ), "Embeddings weren't made for this environment, run graml_main.py with this environment first."
-        tasks_embedding_dicts = {}
-        tasks_plans_dict = {}
-        goals_similarity_dict = {}
-        plans_similarity_dict = {}
-
-        embeddings_dir_path = get_tasks_embeddings_dir_path(domain_name)
-        for embeddings_file_name in [
-            filename
-            for filename in os.listdir(embeddings_dir_path)
-            if "embeddings" in filename
-        ]:
-            with open(
-                os.path.join(embeddings_dir_path, embeddings_file_name), "rb"
-            ) as emb_file:
-                splitted_name = embeddings_file_name.split("_")
-                goal, percentage = splitted_name[0], splitted_name[1]
-                with open(
-                    os.path.join(
-                        embeddings_dir_path, f"{goal}_{percentage}_plans_dict.pkl"
-                    ),
-                    "rb",
-                ) as plan_file:
-                    tasks_plans_dict[f"{goal}_{percentage}"] = dill.load(plan_file)
-                tasks_embedding_dicts[f"{goal}_{percentage}"] = dill.load(emb_file)
-
-        for goal_percentage, embedding_dict in tasks_embedding_dicts.items():
-            goal, percentage = goal_percentage.split("_")
-            similarities = {
-                dynamic_goal: []
-                for dynamic_goal in embedding_dict.keys()
-                if "true" not in dynamic_goal
-            }
-            real_goal_embedding = embedding_dict[f"{goal}_true"]
-            for dynamic_goal, goal_embedding in embedding_dict.items():
-                if "true" in dynamic_goal:
-                    continue
-                curr_similarity = torch.exp(
-                    -torch.sum(torch.abs(goal_embedding - real_goal_embedding))
-                )
-                similarities[dynamic_goal] = curr_similarity.item()
-            if goal not in goals_similarity_dict.keys():
-                goals_similarity_dict[goal] = {}
-            goals_similarity_dict[goal][percentage] = (
-                similarities_vector_to_std_deviation_units_vector(
-                    ref_dict=similarities, relative_to_largest=True
-                )
-            )
-
-        for goal_percentage, plans_dict in tasks_plans_dict.items():
-            goal, percentage = goal_percentage.split("_")
-            real_plan = plans_dict[f"{goal}_true"]
-            sequence_similarities = {
-                d_goal: measure_average_sequence_distance(real_plan, plan)
-                for d_goal, plan in plans_dict.items()
-                if "true" not in d_goal
-            }  # aps = agent plan sequence?
-            if goal not in plans_similarity_dict.keys():
-                plans_similarity_dict[goal] = {}
-            plans_similarity_dict[goal][percentage] = (
-                similarities_vector_to_std_deviation_units_vector(
-                    ref_dict=sequence_similarities, relative_to_largest=False
-                )
-            )
-
-        goals = list(goals_similarity_dict.keys())
-        percentages = sorted(
-            set(
-                percentage
-                for similarities in goals_similarity_dict.values()
-                for percentage in similarities.keys()
-            )
-        )
-        num_percentages = len(percentages)
-        fig_string = f"{recognizer_type}_{domain_name}_{env_name}_{fragmented_status}_{inf_same_length_status}_{learn_same_length_status}"
-
-    else:  # algorithm = "graql"
-        assert os.path.exists(
-            get_graql_experiment_confidence_path(domain_name)
-        ), "Embeddings weren't made for this environment, run graml_main.py with this environment first."
-        tasks_scores_dict = {}
-        goals_similarity_dict = {}
-        experiments_dir_path = get_graql_experiment_confidence_path(domain_name)
-        for experiments_file_name in os.listdir(experiments_dir_path):
-            with open(
-                os.path.join(experiments_dir_path, experiments_file_name), "rb"
-            ) as exp_file:
-                splitted_name = experiments_file_name.split("_")
-                goal, percentage = splitted_name[1], splitted_name[2]
-                tasks_scores_dict[f"{goal}_{percentage}"] = dill.load(exp_file)
-
-        for goal_percentage, scores_list in tasks_scores_dict.items():
-            goal, percentage = goal_percentage.split("_")
-            similarities = {
-                dynamic_goal: score for (dynamic_goal, score) in scores_list
-            }
-            if goal not in goals_similarity_dict.keys():
-                goals_similarity_dict[goal] = {}
-            goals_similarity_dict[goal][percentage] = (
-                similarities_vector_to_std_deviation_units_vector(
-                    ref_dict=similarities, relative_to_largest=False
-                )
-            )
-
-        goals = list(goals_similarity_dict.keys())
-        percentages = sorted(
-            set(
-                percentage
-                for similarities in goals_similarity_dict.values()
-                for percentage in similarities.keys()
-            )
-        )
-        num_percentages = len(percentages)
-        fig_string = f"{recognizer_type}_{domain_name}_{env_name}_{fragmented_status}"
-
-    # -------------------- Start of Confusion Matrix Code --------------------
-    # Initialize matrices of size len(goals) x len(goals)
-    confusion_matrix_goals, confusion_matrix_plans = np.zeros(
-        (len(goals), len(goals))
-    ), np.zeros((len(goals), len(goals)))
-
-    # if domain_name == 'point_maze' and args.task == 'L555':
-    # 	if env_name == 'obstacles':
-    # 		goals = ['(4, 7)', '(3, 6)', '(5, 5)', '(8, 8)', '(6, 3)', '(7, 4)']
-    # 	else: # if env_name is 'four_rooms'
-    # 		goals = ['(2, 8)', '(3, 7)', '(3, 4)', '(4, 4)', '(4, 3)', '(7, 3)', '(8, 2)']
-
-    # Populate confusion matrix with similarity values for goals
-    for i, true_goal in enumerate(goals):
-        for j, dynamic_goal in enumerate(goals):
-            percentage = percentages[-3]
-            confusion_matrix_goals[i, j] = goals_similarity_dict[true_goal][
-                percentage
-            ].get(dynamic_goal, 0)
-
-    if plans_similarity_dict:
-        # Populate confusion matrix with similarity values for plans
-        for i, true_goal in enumerate(goals):
-            for j, dynamic_goal in enumerate(goals):
-                percentage = percentages[-1]
-                confusion_matrix_plans[i, j] = plans_similarity_dict[true_goal][
-                    percentage
-                ].get(dynamic_goal, 0)
-
-    # Create the figure and subplots for the unified display
-    fig, (ax1, ax2) = plt.subplots(1, 2, figsize=(14, 6), sharex=True)
-
-    # Plot for goal similarities
-    im1 = ax1.imshow(confusion_matrix_goals, cmap="Blues", interpolation="nearest")
-    cbar1 = fig.colorbar(im1, ax=ax1, fraction=0.046, pad=0.04)
-    cbar1.set_label("St. dev from most probable goal", fontsize=18)
-    ax1.set_title("Embeddings", fontsize=22, pad=20)
-    ax1.set_xticks(np.arange(len(goals)))
-    ax1.set_xticklabels(goals, rotation=45, ha="right", fontsize=16)
-    ax1.set_yticks(np.arange(len(goals)))
-    ax1.set_yticklabels(goals, fontsize=16)  # y-tick labels for ax1
-
-    # Plot for plan similarities
-    im2 = ax2.imshow(confusion_matrix_plans, cmap="Greens", interpolation="nearest")
-    cbar2 = fig.colorbar(im2, ax=ax2, fraction=0.046, pad=0.04)
-    cbar2.set_label("Distance between plans", fontsize=18)
-    ax2.set_title("Sequences", fontsize=22, pad=20)
-    ax2.set_xticks(np.arange(len(goals)))
-    ax2.set_xticklabels(goals, rotation=45, ha="right", fontsize=16)
-    ax2.set_yticks(np.arange(len(goals)))  # y-ticks for ax2 explicitly
-    ax2.set_yticklabels(goals, fontsize=16)  # y-tick labels for ax2
-
-    # Adjust the figure layout to reduce overlap
-    plt.subplots_adjust(left=0.15, right=0.9, bottom=0.25, top=0.85, wspace=0.1)
-
-    # Unified axis labels, placed closer to the left
-    fig.text(0.57, 0.07, "Goals Adaptation Phase", ha="center", fontsize=22)
-    fig.text(
-        0.12, 0.5, "Inference Phase", va="center", rotation="vertical", fontsize=22
-    )
-
-    # Save the combined plot
-    fig_dir = get_figures_dir_path(domain_name=domain_name, env_name=env_name)
-    if not os.path.exists(fig_dir):
-        os.makedirs(fig_dir)
-    confusion_matrix_combined_path = os.path.join(
-        fig_dir, f"{fig_string}_combined_conf_mat.png"
-    )
-    plt.savefig(confusion_matrix_combined_path, dpi=300)
-    print(
-        f"Combined confusion matrix figure saved at: {confusion_matrix_combined_path}"
-    )
-
-    # -------------------- End of Confusion Matrix Code --------------------
-    fig, axes = plt.subplots(
-        nrows=num_percentages, ncols=1, figsize=(10, 6 * num_percentages)
-    )
-
-    if num_percentages == 1:
-        axes = [axes]
-
-    for i, percentage in enumerate(percentages):
-        correct_tasks, tasks_num = 0, 0
-        ax = axes[i]
-        dynamic_goals = list(
-            next(iter(goals_similarity_dict.values()))[percentage].keys()
-        )
-        num_goals = len(goals)
-        num_dynamic_goals = len(dynamic_goals)
-        bar_width = 0.8 / num_dynamic_goals
-        bar_positions = np.arange(num_goals)
-
-        if recognizer_type == "graml":
-            for j, dynamic_goal in enumerate(dynamic_goals):
-                goal_similarities = [
-                    goals_similarity_dict[goal][percentage][dynamic_goal] + 0.04
-                    for goal in goals
-                ]
-                plan_similarities = [
-                    plans_similarity_dict[goal][percentage][dynamic_goal] + 0.04
-                    for goal in goals
-                ]
-                ax.bar(
-                    bar_positions + j * bar_width,
-                    goal_similarities,
-                    bar_width / 2,
-                    label=f"embedding of {dynamic_goal}",
-                )
-                ax.bar(
-                    bar_positions + j * bar_width + bar_width / 2,
-                    plan_similarities,
-                    bar_width / 2,
-                    label=f"plan to {dynamic_goal}",
-                )
-        else:
-            for j, dynamic_goal in enumerate(dynamic_goals):
-                goal_similarities = [
-                    goals_similarity_dict[goal][percentage][dynamic_goal] + 0.04
-                    for goal in goals
-                ]
-                ax.bar(
-                    bar_positions + j * bar_width,
-                    goal_similarities,
-                    bar_width,
-                    label=f"policy to {dynamic_goal}",
-                )
-
-        x_labels = []
-        for true_goal in goals:
-            guessed_goal = min(
-                goals_similarity_dict[true_goal][percentage],
-                key=goals_similarity_dict[true_goal][percentage].get,
-            )
-            tasks_num += 1
-            if true_goal == guessed_goal:
-                correct_tasks += 1
-            second_lowest_value = sorted(
-                goals_similarity_dict[true_goal][percentage].values()
-            )[1]
-            confidence_level = abs(
-                goals_similarity_dict[true_goal][percentage][guessed_goal]
-                - second_lowest_value
-            )
-            label = f"True: {true_goal}\nGuessed: {guessed_goal}\nConfidence: {confidence_level:.2f}"
-            x_labels.append(label)
-
-        ax.set_ylabel("Distance (units in st. deviations)", fontsize=10)
-        ax.set_title(
-            f"Confidence level for {domain_name}, {env_name}, {fragmented_status}. Accuracy: {correct_tasks / tasks_num}",
-            fontsize=12,
-        )
-        ax.set_xticks(bar_positions + bar_width * (num_dynamic_goals - 1) / 2)
-        ax.set_xticklabels(x_labels, fontsize=8)
-        ax.legend()
-
-    fig_path = os.path.join(fig_dir, f"{fig_string}_stats.png")
-    fig.savefig(fig_path)
-    print(f"general figure saved at: {fig_path}")
-
-
-def parse_args():
-    parser = argparse.ArgumentParser(
-        description="Parse command-line arguments for the RL experiment.",
-        formatter_class=argparse.RawTextHelpFormatter,
-    )
-
-    # Required arguments
-    required_group = parser.add_argument_group("Required arguments")
-    required_group.add_argument(
-        "--domain",
-        choices=["point_maze", "minigrid", "parking", "franka_kitchen", "panda"],
-        required=True,
-        help="Domain type (point_maze, minigrid, parking, or franka_kitchen)",
-    )
-    required_group.add_argument(
-        "--recognizer",
-        choices=["graml", "graql", "draco"],
-        required=True,
-        help="Recognizer type (graml, graql, draco). graql only for discrete domains.",
-    )
-    required_group.add_argument(
-        "--task",
-        choices=[
-            "L1",
-            "L2",
-            "L3",
-            "L4",
-            "L5",
-            "L11",
-            "L22",
-            "L33",
-            "L44",
-            "L55",
-            "L111",
-            "L222",
-            "L333",
-            "L444",
-            "L555",
-        ],
-        required=True,
-        help="Task identifier (e.g., L1, L2,...,L5)",
-    )
-    required_group.add_argument(
-        "--partial_obs_type",
-        required=True,
-        choices=["fragmented", "continuing"],
-        help="Give fragmented or continuing partial observations for inference phase inputs.",
-    )
-
-    # Optional arguments
-    optional_group = parser.add_argument_group("Optional arguments")
-    optional_group.add_argument(
-        "--minigrid_env",
-        choices=["four_rooms", "obstacles"],
-        help="Minigrid environment (four_rooms or obstacles)",
-    )
-    optional_group.add_argument(
-        "--parking_env",
-        choices=["gd_agent", "gc_agent"],
-        help="Parking environment (agent or gc_agent)",
-    )
-    optional_group.add_argument(
-        "--point_maze_env",
-        choices=["obstacles", "four_rooms"],
-        help="Parking environment (agent or gc_agent)",
-    )
-    optional_group.add_argument(
-        "--franka_env",
-        choices=["comb1", "comb2"],
-        help="Franka Kitchen environment (comb1 or comb2)",
-    )
-    optional_group.add_argument(
-        "--panda_env",
-        choices=["gc_agent", "gd_agent"],
-        help="Panda Robotics environment (gc_agent or gd_agent)",
-    )
-    optional_group.add_argument(
-        "--learn_same_seq_len",
-        action="store_true",
-        help="Learn with the same sequence length",
-    )
-    optional_group.add_argument(
-        "--inference_same_seq_len",
-        action="store_true",
-        help="Infer with the same sequence length",
-    )
-
-    args = parser.parse_args()
-
-    ### VALIDATE INPUTS ###
-    # Assert that all required arguments are provided
-    assert (
-        args.domain is not None
-        and args.recognizer is not None
-        and args.task is not None
-    ), "Missing required arguments: domain, recognizer, or task"
-
-    # Validate the combination of domain and environment
-    if args.domain == "minigrid" and args.minigrid_env is None:
-        parser.error(
-            "Missing required argument: --minigrid_env must be provided when --domain is minigrid"
-        )
-    elif args.domain == "parking" and args.parking_env is None:
-        parser.error(
-            "Missing required argument: --parking_env must be provided when --domain is parking"
-        )
-    elif args.domain == "point_maze" and args.point_maze_env is None:
-        parser.error(
-            "Missing required argument: --point_maze_env must be provided when --domain is point_maze"
-        )
-    elif args.domain == "franka_kitchen" and args.franka_env is None:
-        parser.error(
-            "Missing required argument: --franka_env must be provided when --domain is franka_kitchen"
-        )
-
-    if args.recognizer != "graml":
-        if args.learn_same_seq_len == True:
-            parser.error("learn_same_seq_len is only relevant for graml.")
-        if args.inference_same_seq_len == True:
-            parser.error("inference_same_seq_len is only relevant for graml.")
-
-    return args
-
-
-if __name__ == "__main__":
-    args = parse_args()
-    set_global_storage_configs(
-        recognizer_str=args.recognizer,
-        is_fragmented=args.partial_obs_type,
-        is_inference_same_length_sequences=args.inference_same_seq_len,
-        is_learn_same_length_sequences=args.learn_same_seq_len,
-    )
-    (env_name,) = [
-        x
-        for x in [
-            args.minigrid_env,
-            args.parking_env,
-            args.point_maze_env,
-            args.franka_env,
-        ]
-        if isinstance(x, str)
-    ]
-    if args.inference_same_seq_len:
-        inference_same_seq_len = "inference_same_seq_len"
-    else:
-        inference_same_seq_len = "inference_diff_seq_len"
-    if args.learn_same_seq_len:
-        learn_same_seq_len = "learn_same_seq_len"
-    else:
-        learn_same_seq_len = "learn_diff_seq_len"
-    analyze_and_produce_plots(
-        args.recognizer,
-        domain_name=args.domain,
-        env_name=env_name,
-        fragmented_status=args.partial_obs_type,
-        inf_same_length_status=inference_same_seq_len,
-        learn_same_length_status=learn_same_seq_len,
-    )

evaluation/get_plans_images.py

@@ -1,62 +0,0 @@
-import sys
-import os
-import pickle
-import inspect
-
-
-currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
-GRAML_itself = os.path.dirname(currentdir)
-GRAML_includer = os.path.dirname(os.path.dirname(currentdir))
-sys.path.insert(0, GRAML_includer)
-sys.path.insert(0, GRAML_itself)
-
-
-def get_plans_result_path(env_name):
-    return os.path.join("dataset", (env_name), "plans")
-
-
-def get_policy_sequences_result_path(env_name):
-    return os.path.join("dataset", (env_name), "policy_sequences")
-
-
-# TODO: instead of loading the model and having it produce the sequence again, just save the sequence from the framework run, and have this script accept the whole path (including is_fragmented etc.)
-def analyze_and_produce_images(env_name):
-    models_dir = get_models_dir(env_name=env_name)
-    for dirname in os.listdir(models_dir):
-        if dirname.startswith("MiniGrid"):
-            model_dir = get_model_dir(
-                env_name=env_name, model_name=dirname, class_name="MCTS"
-            )
-            model_file_path = os.path.join(model_dir, "mcts_model.pth")
-            try:
-                with open(model_file_path, "rb") as file:  # Load the pre-existing model
-                    monteCarloTreeSearch = pickle.load(file)
-                    full_plan = monteCarloTreeSearch.generate_full_policy_sequence()
-                    plan = [pos for ((state, pos), action) in full_plan]
-                    plans_result_path = get_plans_result_path(env_name)
-                    if not os.path.exists(plans_result_path):
-                        os.makedirs(plans_result_path)
-                    img_path = os.path.join(get_plans_result_path(env_name), dirname)
-                    print(
-                        f"plan to {dirname} is:\n\t{plan}\ngenerating image at {img_path}."
-                    )
-                    create_sequence_image(plan, img_path, dirname)
-
-            except FileNotFoundError as e:
-                print(
-                    f"Warning: {e.filename} doesn't exist. It's probably a base goal, not generating policy sequence for it."
-                )
-
-
-if __name__ == "__main__":
-    # preventing circular imports. only needed for running this as main anyway.
-    from gr_libs.ml.utils.storage import get_models_dir, get_model_dir
-
-    # checks:
-    assert (
-        len(sys.argv) == 2
-    ), f"Assertion failed: len(sys.argv) is {len(sys.argv)} while it needs to be 2.\n Example: \n\t /usr/bin/python scripts/get_plans_images.py MiniGrid-Walls-13x13-v0"
-    assert os.path.exists(
-        get_models_dir(sys.argv[1])
-    ), "plans weren't made for this environment, run graml_main.py with this environment first."
-    analyze_and_produce_images(sys.argv[1])

evaluation/increasing_and_decreasing_.py

@@ -1,104 +0,0 @@
-import os
-import dill
-import numpy as np
-import matplotlib.pyplot as plt
-from gr_libs.ml.utils.storage import (
-    get_experiment_results_path,
-    set_global_storage_configs,
-)
-
-if __name__ == "__main__":
-
-    # Define the tasks and percentages
-    increasing_base_goals = ["L1", "L2", "L3", "L4", "L5"]
-    increasing_dynamic_goals = ["L111", "L222", "L555", "L333", "L444"]
-    percentages = ["0.3", "0.5", "0.7", "0.9", "1"]
-
-    # Prepare a dictionary to hold accuracy data
-    accuracies = {
-        task: {perc: [] for perc in percentages}
-        for task in increasing_base_goals + increasing_dynamic_goals
-    }
-
-    # Collect data for both sets of goals
-    for task in increasing_base_goals + increasing_dynamic_goals:
-        set_global_storage_configs(
-            recognizer_str="graml",
-            is_fragmented="fragmented",
-            is_inference_same_length_sequences=True,
-            is_learn_same_length_sequences=False,
-        )
-        res_file_path = (
-            f'{get_experiment_results_path("parking", "gd_agent", task)}.pkl'
-        )
-
-        if os.path.exists(res_file_path):
-            with open(res_file_path, "rb") as results_file:
-                results = dill.load(results_file)
-                for percentage in percentages:
-                    accuracies[task][percentage].append(results[percentage]["accuracy"])
-        else:
-            print(f"Warning: no file for {res_file_path}")
-
-    # Create the figure with two subplots
-    fig, axes = plt.subplots(1, 2, figsize=(12, 6))
-
-    # Bar plot function
-    def plot_accuracies(ax, task_set, title, type):
-        """Plot accuracies for a given set of tasks on the provided axis."""
-        x_vals = np.arange(len(task_set))  # X-axis positions for the number of goals
-        bar_width = 0.15  # Width of each bar
-        for i, perc in enumerate(["0.3", "0.5", "1"]):
-            if perc == "1":
-                y_vals = [
-                    max(
-                        [
-                            accuracies[task]["0.5"][0],
-                            accuracies[task]["0.7"][0],
-                            accuracies[task]["0.9"][0],
-                            accuracies[task]["1"][0],
-                        ]
-                    )
-                    for task in task_set
-                ]  # Get mean accuracies
-            else:
-                y_vals = [
-                    accuracies[task][perc][0] for task in task_set
-                ]  # Get mean accuracies
-            if type != "base":
-                ax.bar(
-                    x_vals + i * bar_width,
-                    y_vals,
-                    width=bar_width,
-                    label=f"Percentage {perc}",
-                )
-            else:
-                ax.bar(x_vals + i * bar_width, y_vals, width=bar_width)
-        ax.set_xticks(x_vals + bar_width)  # Center x-ticks
-        ax.set_xticklabels(
-            [i + 3 for i in range(len(task_set))], fontsize=16
-        )  # Set custom x-tick labels
-        ax.set_yticks(np.linspace(0, 1, 6))
-        ax.set_ylim([0, 1])
-        ax.set_title(title, fontsize=20)
-        ax.set_xlabel(f"Number of {type} Goals", fontsize=20)
-        if type == "base":
-            ax.set_ylabel("Accuracy", fontsize=22)
-        ax.legend()
-
-    # Plot for increasing base goals
-    plot_accuracies(axes[0], increasing_base_goals, "Increasing Base Goals", "base")
-
-    # Plot for increasing dynamic goals
-    plot_accuracies(
-        axes[1], increasing_dynamic_goals, "Increasing Active Goals", "active"
-    )
-    plt.subplots_adjust(
-        left=0.1, right=0.9, top=0.9, bottom=0.1, wspace=0.3, hspace=0.3
-    )
-    # Adjust layout and save the figure
-    plt.tight_layout()
-    plt.savefig(
-        "increasing_goals_plot_bars.png", dpi=300
-    )  # Save the figure as a PNG file
-    print("Figure saved at: increasing_goals_plot_bars.png")