From 361c1ea9d3ed7f8d4922a7756ea195bc2e1c6956 Mon Sep 17 00:00:00 2001
From: ebuehrle <43623224+ebuehrle@users.noreply.github.com>
Date: Wed, 3 Nov 2021 17:49:59 +0100
Subject: [PATCH] Add speed, then accumulate, skip 5 frames

---
 scratch/etienne/intersimple/data/generate.sh                  | 3 ++-
 scratch/etienne/intersimple/gail/envs.py                      | 2 +-
 .../etienne/intersimple/gail_options_image_random_location.py | 4 ++--
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/scratch/etienne/intersimple/data/generate.sh b/scratch/etienne/intersimple/data/generate.sh
index e9ce9e4..bdb0ce6 100755
--- a/scratch/etienne/intersimple/data/generate.sh
+++ b/scratch/etienne/intersimple/data/generate.sh
@@ -9,4 +9,5 @@
 #python -m expert --env=NRasterizedRouteRandomAgent --min_timesteps=10000 --env_args='{width:70,height:70,m_per_px:1}' --policy_args='{mu:0.001}' --path='NormalizedIntersimpleExpertMu.001N10000_NRasterizedRouteRandomAgentw70h70mppx1.pkl'
 #python -m expert --env=NRasterizedRouteRandomAgentLocation --min_timesteps=100000 --env_args='{width:70,height:70,m_per_px:1}' --policy_args='{mu:0.001}' --path='NormalizedIntersimpleExpertMu.001N100000_NRasterizedRouteRandomAgentLocationw70h70mppx1.pkl'
 #python -m expert --env=NRasterizedRouteRandomAgentLocation --min_timesteps=100000 --env_args='{width:70,height:70,m_per_px:1,map_color:128}' --policy_args='{mu:0.001}' --path='NormalizedIntersimpleExpertMu.001N100000_NRasterizedRouteRandomAgentLocationw70h70mppx1mapc128.pkl'
-python -m expert --env=NRasterizedRouteSpeedRandomAgentLocation --min_timesteps=10000 --env_args='{width:70,height:70,m_per_px:1,map_color:128,mu:0.001}' --policy_args='{mu:0.001}' --path='NormalizedIntersimpleExpertMu.001N10000_NRasterizedRouteSpeedRandomAgentLocationw70h70mppx1mapc128mu.001.pkl'
+#python -m expert --env=NRasterizedRouteSpeedRandomAgentLocation --min_timesteps=10000 --env_args='{width:70,height:70,m_per_px:1,map_color:128,mu:0.001}' --policy_args='{mu:0.001}' --path='NormalizedIntersimpleExpertMu.001N10000_NRasterizedRouteSpeedRandomAgentLocationw70h70mppx1mapc128mu.001.pkl'
+python -m data.expert --env=NRasterizedRouteSpeedRandomAgentLocation --min_timesteps=10000 --env_args='{width:70,height:70,m_per_px:1,map_color:128,mu:0.001,skip_frames:5}' --policy_args='{mu:0.001}' --path='NormalizedIntersimpleExpertMu.001N10000_NRasterizedRouteSpeedRandomAgentLocationw70h70mppx1mapc128mu.001skip5.pkl'
diff --git a/scratch/etienne/intersimple/gail/envs.py b/scratch/etienne/intersimple/gail/envs.py
index 7983312..9f4ad6b 100644
--- a/scratch/etienne/intersimple/gail/envs.py
+++ b/scratch/etienne/intersimple/gail/envs.py
@@ -29,6 +29,6 @@ class RasterizedSpeed:
         return obs
 
 class NRasterizedRouteSpeedRandomAgentLocation(RandomLocation, RandomAgent, RewardVisualization,
-        Reward, ImageObservationAnimation, RasterizedRoute, RasterizedSpeed, NObservations, RasterizedObservation,
+        Reward, ImageObservationAnimation, RasterizedRoute, NObservations, RasterizedSpeed, RasterizedObservation,
         NormalizedActionSpace, ActionVisualization, InteractionSimulatorMarkerViz, ImitationCompat, Intersimple):
     pass
\ No newline at end of file
diff --git a/scratch/etienne/intersimple/gail_options_image_random_location.py b/scratch/etienne/intersimple/gail_options_image_random_location.py
index 511ecff..a4a476e 100644
--- a/scratch/etienne/intersimple/gail_options_image_random_location.py
+++ b/scratch/etienne/intersimple/gail_options_image_random_location.py
@@ -19,7 +19,7 @@ from gail.options2 import OptionsEnv, RenderOptions, imitation_discriminator
 from gym.wrappers import TimeLimit
 
 model_name = 'gail_options_image_random_location'
-env_settings = {'width': 70, 'height': 70, 'm_per_px': 1, 'map_color': 128, 'mu': 0.001, 'random_skip': True}
+env_settings = {'width': 70, 'height': 70, 'm_per_px': 1, 'map_color': 128, 'mu': 0.001, 'random_skip': True, 'skip_frames': 5}
 
 ALL_OPTIONS = [(v,t) for v in [0,2,4,6,8] for t in [5, 10, 20]] # option 0 is safe fallback
 
@@ -100,7 +100,7 @@ def evaluate():
 # %%
 if __name__ == '__main__':
 
-    with open("data/NormalizedIntersimpleExpertMu.001N10000_NRasterizedRouteSpeedRandomAgentLocationw70h70mppx1mapc128mu.001.pkl", "rb") as f:
+    with open("data/NormalizedIntersimpleExpertMu.001N10000_NRasterizedRouteSpeedRandomAgentLocationw70h70mppx1mapc128mu.001skip5.pkl", "rb") as f:
         trajectories = pickle.load(f)
     transitions = rollout.flatten_trajectories(trajectories)
     train(transitions)