adding options for regularization and relative state masking via interaction graphs during data processing and experiment running. found 0.002 regularization on actions gives up to 3m of deviation with no collisions. added shell script to run ray experiments overnight

experiments/experiment.py

@@ -11,6 +11,9 @@ from ray.tune.schedulers import ASHAScheduler
 from hyperopt import hp
 from ray.tune.suggest.hyperopt import HyperOptSearch
 
+# get graphs
+import intersim
+from intersim.graphs import ConeVisibilityGraph
 
 
 from src.main import basestr, main
@@ -45,6 +48,10 @@ def parse_args():
         help='seed')    
     parser.add_argument('--nframes', default=500, type=int,
         help='frames for test animation') 
+    parser.add_argument('--graph', action='store_true',
+        help='whether to mask the relative states based on a ConeVisibilityGraph')
+    parser.add_argument('-d', default='./expert_data', type=str,
+                       help='data directory')
     args = parser.parse_args()
     kwargs = {
         'train':args.train, 
@@ -55,7 +62,11 @@ def parse_args():
         'seed':args.seed,
         'ray':args.ray,
         'nframes':args.nframes,
+        'datadir':os.path.abspath(args.d),
+        'graph':None
     }
+    if args.graph:
+        kwargs['graph'] = ConeVisibilityGraph(r=20, half_angle=120)
     return kwargs
 
 def get_full_config(ray_config:dict, method:str)->dict:
@@ -124,23 +135,21 @@ if __name__ == '__main__':
 
         def ray_train(config, datadir=None):
             full_config = get_full_config(config, kwargs['method'])
-            main(full_config, filestr='exp', datadir=datadir, **kwargs)
+            main(full_config, filestr='exp', **kwargs)
-        
-        datadir = os.path.abspath('./expert_data')
         
         ray_config = get_ray_config(kwargs['method'])
         search = HyperOptSearch(ray_config, max_concurrent=8, metric='cv_loss',mode="min",)
         custom_scheduler = ASHAScheduler(metric='cv_loss', mode="min", grace_period=15)
 
         analysis = tune.run(
-            partial(ray_train, datadir=datadir),
+            ray_train, 
             #config=ray_config,
             search_alg=search,
             scheduler=custom_scheduler,
             local_dir=outdir,
             #resources_per_trial={"cpu": 2},
             time_budget_s=120*60,
-            num_samples=100,
+            num_samples=200,
         )
     elif kwargs['ray'] and kwargs['test']:
         analysis = Analysis(outdir, default_metric="cv_loss", default_mode="min")

experiments/experiments.sh

@@ -0,0 +1,9 @@
+#!/bin/sh
+
+python experiments/experiment.py --ray --train -d ./expert_data/base
+python experiments/experiment.py --ray --test -d ./expert_data/base --nframes 1000
+python experiments/experiment.py --ray --train -d ./expert_data/reg
+python experiments/experiment.py --ray --test -d ./expert_data/reg --nframes 1000
+python experiments/experiment.py --ray --train -d ./expert_data/reg_graph --graph
+python experiments/experiment.py --ray --test -d ./expert_data/reg_graph --graph --nframes 1000
+

src/expert_data.py

@@ -7,21 +7,28 @@ import numpy as np
 import intersim
 from intersim.utils import get_map_path, get_svt, SVT_to_stateactions
 from intersim import collisions
+from intersim.graphs import ConeVisibilityGraph
 import os
 opj = os.path.join
 
-def generate_expert_data(path: str='expert_data', loc: int = 0, track:int = 0, **kwargs):
+def generate_expert_data(path: str='expert_data', loc: int = 0, track:int = 0, 
+                            mask_relstate: bool = False, regularize_actions: bool = False, 
+                            **kwargs):
     """
     Function to save (joint) states and observations from simulated frame
     Args:
         path (str): directory to save data
         loc (int): location index
         track (int): track index
+        mask_relstate (bool): whether to mask the relative states from the cone visibility graph
+        regularize_actions (bool): whether to regularize the action selection
         kwargs: arguments for environment instantiation
     """
     
+    action_reg = 0.002 if regularize_actions else 0
+    
     if not os.path.isdir(path):
-        os.mkdir(path)
+        os.makedirs(path)
     filestr = opj(path,intersim.LOCATIONS[loc]+'_track%03i'%(track))
     
     svt, svt_path = get_svt(base='InteractionSimulator', loc=loc, track=track)
@@ -31,6 +38,11 @@ def generate_expert_data(path: str='expert_data', loc: int = 0, track:int = 0, *
     states, actions = SVT_to_stateactions(svt)
 
     # animate from environment
+    if mask_relstate:
+        cvg = ConeVisibilityGraph(r=20, half_angle=120)
+        env = gym.make('intersim:intersim-v0', svt=svt, map_path=osm, 
+            min_acc=-np.inf, max_acc=np.inf, graph=cvg, mask_relstate=True, **kwargs)
+    else:
         env = gym.make('intersim:intersim-v0', svt=svt, map_path=osm, **kwargs, 
             min_acc=-np.inf, max_acc=np.inf)
     
@@ -47,7 +59,7 @@ def generate_expert_data(path: str='expert_data', loc: int = 0, track:int = 0, *
             max_devs.append(norms.max())
 
         # propagate environment
-        ob, r, done, info = env.step(env.target_state(svt.simstate[i+1]))
+        ob, r, done, info = env.step(env.target_state(svt.simstate[i+1], mu=action_reg))
         obs.append(ob)
         actions_taken.append(info['action_taken'])
         i += 1
@@ -165,9 +177,25 @@ if __name__ == '__main__':
                        help='track number (default 0)')
     parser.add_argument('--all-tracks', action='store_true',
                        help='whether to process all tracks at location')
+    parser.add_argument('--graph', action='store_true',
+                       help='whether to mask the relative states based on a ConeVisibilityGraph')
+    parser.add_argument('--reg', action='store_true',
+                       help='whether to regularize actions in the action targeter')
+    parser.add_argument('-o', default='./expert_data', type=str,
+                       help='output folder')
     args = parser.parse_args()
+
+    kwargs = {
+        'loc':args.loc, 
+        'track': args.track,
+        'path':args.o, 
+        'mask_relstate':args.graph, 
+        'regularize_actions': args.reg
+    }
+
     if args.all_tracks:
         for i in range(intersim.MAX_TRACKS):
-            generate_expert_data(loc=args.loc, track=i)
+            kwargs['track'] = i
+            generate_expert_data(**kwargs)
     else:
-        generate_expert_data(loc=args.loc,track=args.track)
+        generate_expert_data(**kwargs)

src/main.py

@@ -59,14 +59,14 @@ def main(config, method='bc', train=False, test=False, loc=0, datadir='./expert_
 
         # simulate policy
         track = 4
-        simulate_policy(policy, loc=loc, track=track, filestr=filestr, nframes=kwargs['nframes'])
+        simulate_policy(policy, loc=loc, track=track, filestr=filestr, nframes=kwargs['nframes'], graph=kwargs['graph'])
 
         # run test metrics
         test_dataset = InteractionDatasetSingleAgent(output_dir=datadir, loc=loc, tracks=[track])
         metrics(filestr, test_dataset, policy)
 
 
-def simulate_policy(policy, loc=0, track=0, filestr='', nframes=float('inf')):
+def simulate_policy(policy, loc=0, track=0, filestr='', nframes=float('inf'), graph=None):
     """
     Simulate a trained policy
     Args:
@@ -79,6 +79,10 @@ def simulate_policy(policy, loc=0, track=0, filestr='', nframes=float('inf')):
     basepath = os.path.abspath('./InteractionSimulator')
     svt, svt_path = get_svt(base=basepath, loc=loc, track=track)
     osm = get_map_path(base=basepath, loc=loc)
+    if graph:
+        env = gym.make('intersim:intersim-v0', svt=svt, map_path=osm, 
+            min_acc=-np.inf, max_acc=np.inf, graph=graph, mask_relstate=True)
+    else:
         env = gym.make('intersim:intersim-v0', svt=svt, map_path=osm, 
             min_acc=-np.inf, max_acc=np.inf)
     # env = gym.make('intersim:intersim-v0', loc=loc, track=track,