In [1]:

    

import matplotlib
%matplotlib inline
import matplotlib.pyplot as plt
import numpy as np


    

In [2]:

    

data = np.loadtxt('output/history.txt')

error = data[:, 0]
steering = data[:, 1]
variance = data[:, 2]
speed = data[:, 3]

fig, ax = plt.subplots(2, 2, figsize=(15, 8))

ax[0][0].plot(error)
ax[0][0].set_ylabel('cross-track error', fontsize=16)
ax[1][0].plot(steering)
ax[1][0].set_ylabel('steering', fontsize=16)
ax[0][1].plot(variance)
ax[0][1].set_ylabel('sum of squared error', fontsize=16)
ax[1][1].plot(speed)
ax[1][1].set_ylabel('speed (mph)', fontsize=16)

plt.tight_layout()
plt.show()


    

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