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Merge branch 'save-videos' into dev-idm-videos

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ebuehrle
2022-09-22 10:55:38 +02:00
parent 88213e7d76 3fa370eb8a
commit 740e0ea9f4
8 changed files with 108 additions and 15 deletions
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14
eval_experiments.py
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@@ -6,13 +6,13 @@ import json
activations = [torch.nn.Tanh, torch.nn.LeakyReLU]
def main(method:str='expert', folder:str=None, locations=[(0,0)], skip_running=False):
def main(method:str='expert', folder:str=None, locations=[(0,0)], skip_running=False, save_videos:bool=False, videos_folder:str='videos', first_seed_only:bool=False):
exclude_keys_from_policy_kwargs = {'learning_rate', 'learning_rate_decay', 'clip_ratio', 'iterations_per_epoch', 'option'}
policy_kwargs = {}
if method in ['expert', 'idm']:
env, env_kwargs ='NRasterizedRouteIncrementingAgent', {'use_idm':True}
if method in ['expert', 'expert_agent', 'idm']:
env, env_kwargs ='NRasterizedRouteIncrementingAgent', {}
elif method in ['bc','gail']:
env='NormalizedContinuousEvalEnv'
env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000, 'use_idm':True}
@@ -30,8 +30,13 @@ def main(method:str='expert', folder:str=None, locations=[(0,0)], skip_running=F
if folder is not None:
files = [os.path.join(folder, f) for f in os.listdir(folder) if os.path.isfile(os.path.join(folder, f))]
files = [f for f in files if f.endswith('.pt')]
if first_seed_only:
files = files[:1]
with open(os.path.join(folder, 'config.json'), 'rb') as f:
config = json.load(f)
print('%i policy files found in %s folder' %(len(files), folder))
print('found policy config', config['policy'])
@@ -50,7 +55,8 @@ def main(method:str='expert', folder:str=None, locations=[(0,0)], skip_running=F
policy_file=policy_file,
policy_kwargs=policy_kwargs,
env=env,
env_kwargs=env_kwargs)
env_kwargs=env_kwargs,
videos_folder=None if not save_videos else videos_folder)
outfolder = os.path.dirname(outbase)
else:
locstr = 'loc_'+'_'.join([f'r{ro}t{tr}' for (ro,tr) in locations])