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Merge branch 'main' of github.com:sisl/InteractionImitation

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Johannes Fischer
2021-08-04 19:44:04 +02:00
parent 5c40de66fa f9729b0a9d
commit 2224e2cd14
20 changed files with 3894 additions and 68 deletions
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6
src/bc/bc.py
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@@ -123,7 +123,7 @@ def train(config, policy, train_dataset, cv_dataset, filestr, **kwargs):
cv_loader = DataLoader(cv_dataset, batch_size=cv_batch_size, shuffle=True)
# change policy dtype
policy.policy = policy.policy.type(train_dataset[0]['state'].dtype)
policy.policy = policy.policy.type(train_dataset[0]['state']['ego_state'].dtype)
# generate loss function, optimizer
cv_loss_fn = nn.MSELoss(reduction='sum')
@@ -150,7 +150,7 @@ def train(config, policy, train_dataset, cv_dataset, filestr, **kwargs):
for (batch_idx, batch) in enumerate(training_loader):
# sample mini-batch and run through policy
pred_action = policy(batch)
pred_action = policy(batch['state'])
loss = loss_fn(pred_action, batch['action'])
# compute loss and step optimizer
@@ -169,7 +169,7 @@ def train(config, policy, train_dataset, cv_dataset, filestr, **kwargs):
with torch.no_grad():
cv_loss = 0.
for (batch_idx, batch) in enumerate(cv_loader):
pred_action = policy(batch)
pred_action = policy(batch['state'])
loss = cv_loss_fn(pred_action, batch['action'])
cv_loss += loss.item() / len(cv_dataset)