Remove confusing tests

dtree_synth.py

@@ -35,42 +35,6 @@ def load_examples(file_name: str, spec) -> Tuple[List[Tuple[float, ...]], List[T
     return pos_exs, neg_exs
 
 
-def test_synth_dtree():
-    """ Test using filtered data where we know an abstraction exists. """
-
-    # Initialize Teacher
-    teacher = Teacher(norm_ord=1, ultimate_bound=0.25)
-    teacher.set_old_state_bound(lb=[0.0, -1.0, 0.2], ub=[32.0, -0.9, 0.22])
-
-    init_positive_examples, init_negative_examples = load_examples(
-        "data/collect_images_2021-11-22-17-59-46.cs598.filtered.pickle",
-        teacher.is_positive_example)
-
-    print("# positive examples: %d" % len(init_positive_examples))
-    print("# negative examples: %d" % len(init_negative_examples))
-    ex_dim = len(init_positive_examples[0])
-    print("Dimension of each example: %d" % ex_dim)
-
-    assert all(len(ex) == ex_dim and not any(np.isnan(ex))
-               for ex in init_positive_examples)
-    assert teacher.state_dim + teacher.perc_dim == ex_dim
-
-    # Initialize Learner
-    learner = Learner(state_dim=teacher.state_dim,
-                      perc_dim=teacher.perc_dim, timeout=20000)
-    a_mat_0 = Teacher.PERC_GT
-    b_vec_0 = np.zeros(2)
-    # Let z = [z_0, z_1] = [d, psi]; x = [x_0, x_1, x_2] = [x, y, theta]
-    # a_mat_0 @ [x, y, theta] + b_vec_0 = [-y, -theta]
-    # z - (a_mat_0 @ x + b_vec_0) = [d, psi] - [-y, -theta] = [d+y, psi+theta] defined as [fvar0_A0, fvar1_A0]
-
-    learner.set_grammar([(a_mat_0, b_vec_0)])
-    learner.add_positive_examples(*init_positive_examples)
-    learner.add_negative_examples(*init_negative_examples)
-
-    synth_dtree(learner, teacher, num_max_iterations=2000)
-
-
 def synth_dtree(learner: Learner, teacher: Teacher, num_max_iterations: int = 10):
     past_candidate_list = []
     for k in range(num_max_iterations):
@@ -229,5 +193,4 @@ def main():
 
 
 if __name__ == "__main__":
-    # test_synth_dtree()
     main()