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Author SHA1 Message Date
ebuehrle
f1ece358d7 Speed up collision check, assume 0 is fallback option 
Due to the conservative approximation of the collision check,
no option might be feasible, thus the necessity of a guaranteed fallback.
 2021-09-13 09:35:49 +02:00
ebuehrle
87ff3dbb93 Add cuda support, normalize actions 2021-09-11 21:32:30 +02:00
ebuehrle
e7b0aea427 run options gail 2021-09-11 21:32:25 +02:00
Johannes Fischer
8ad7457159 Merge branch 'main' of github.com:sisl/InteractionImitation 2021-09-10 11:38:31 +02:00
Johannes Fischer
544ea4d15a Allow variable horizon trajectories 2021-09-10 11:37:34 +02:00
Johannes Fischer
9a107b165a Allow variable horizon trajectories 2021-09-10 11:34:36 +02:00
Johannes Fischer
b2b2abafa2 Fix typo 2021-09-10 11:34:13 +02:00
ebuehrle
5ff4b42c0e Fix imports 2021-09-08 20:45:45 +02:00
ebuehrle
3a6139286d Update .gitignore 2021-09-08 20:31:45 +02:00
ebuehrle
50916aec05 Vanilla GAIL on rasterized observation 2021-09-08 20:30:11 +02:00
ebuehrle
802d4a4301 Try lower image resolution 2021-09-08 20:26:54 +02:00
ebuehrle
f94ec9a4dc Add test for discriminator 2021-09-08 20:23:39 +02:00
Arec
de5877aaad filling in available_actions, generate_plan, and feasible helpers 2021-09-08 05:14:15 -07:00
ebuehrle
1fd0a71646 Draft Options GAIL 2021-09-08 11:21:25 +02:00
ebuehrle
d89e491b92 Remove debug print statement 2021-09-07 19:20:28 +02:00
ebuehrle
e9f09cacb7 Add option to render expert rollout 2021-09-07 19:19:53 +02:00
ebuehrle
88e0b99d7e Add script for data generation 2021-09-07 19:18:59 +02:00
ebuehrle
a70907c0fd Copy over experiments 2021-09-01 16:07:15 +02:00
Johannes Fischer
317d329765 Add shell script for value dice training 2021-08-06 18:53:32 +02:00
Johannes Fischer
88b4466e57 MInor change in value dice loss, activate print statements, only do EITHER value OR policy update for each batch 2021-08-06 18:52:17 +02:00
Johannes Fischer
025c71767f Change final value network activation to identity 2021-08-06 18:48:53 +02:00
Johannes Fischer
66bfba3986 Minor formatting 2021-08-05 18:37:54 +02:00
Johannes Fischer
6afb112277 Bugfix in value dice 
FIRST backward() has to be called on both, policy and value, before step() is called for either of them
 2021-08-05 18:35:14 +02:00
Johannes Fischer
bf4c19a4d0 Add value dice ray config 2021-08-05 18:33:34 +02:00
Johannes Fischer
8bce5d15f6 Restore train_epochs to 200 instead of 8 2021-08-05 18:32:46 +02:00
Johannes Fischer
40c55478f3 Bugfixes in valuedice 2021-08-04 20:53:03 +02:00
Johannes Fischer
2224e2cd14 Merge branch 'main' of github.com:sisl/InteractionImitation 2021-08-04 19:44:55 +02:00
Johannes Fischer
5c40de66fa Implement ValueDICE and some restructuring 2021-08-04 19:34:49 +02:00
Arec
f9729b0a9d making expert data save s, a, sp. making dataloader also load batches thisway. renaming state to ego_state. converting path_x and path_y to single path variable. making number of samples for ray an argument. adjusting metrics, policy, and other functions to be able to handle this 2021-08-04 09:45:36 -07:00
Etienne Buehrle
7ae01f73a2 AdVIL tests 2021-08-04 16:41:18 +02:00
Johannes Fischer
cba42c6e4d Set default divergence to histogram based 2021-08-03 17:18:30 +02:00
Johannes Fischer
5919a4e439 Use JS divergence in metrics 2021-08-03 17:04:47 +02:00
Johannes Fischer
1ee46214a7 Implement jenson shannon divergence 2021-08-03 17:03:37 +02:00
Johannes Fischer
1916a8fe69 Implement metrics and write to tensorboard summary at test time 2021-08-03 15:24:29 +02:00
Arec
98294e0c95 Merge branch 'main' of https://github.com/sisl/InteractionImitation into main 2021-08-03 03:28:23 -07:00
Arec
943e8cda26 adding output directory to parse arguments 2021-08-03 03:28:11 -07:00
Arec
6e524cf4b5 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 2021-08-02 14:38:06 -07:00
Johannes Fischer
b869597717 extend comment on divergence 2021-08-02 19:15:02 +02:00
Johannes Fischer
f468b3b7a4 Implement histogram based kl divergence computation 2021-08-02 19:14:40 +02:00
Johannes Fischer
9dd655bc75 test out kd divergence estimate based on CV-KDE (very slow) 2021-08-02 17:38:52 +02:00
Johannes Fischer
6177b1f7e1 Add kl_cat 2021-08-02 11:12:24 +02:00
Johannes Fischer
4ea4d42df7 Merge branch 'main' of github.com:sisl/InteractionImitation 2021-08-02 11:08:35 +02:00
Johannes Fischer
281f7773c4 Implement kl divergence methods and tests 2021-08-02 11:04:03 +02:00
Johannes Fischer
99f7df2e7c Add comment 2021-07-30 18:19:29 +02:00
Johannes Fischer
367f72ec46 Imrove print output 2021-07-30 18:19:15 +02:00
Arec
fb91ee1a62 Merge branch 'main' of https://github.com/sisl/InteractionImitation into main 2021-07-30 05:17:43 -07:00
Arec
5fcd3f49da adding hyperopt tuning 2021-07-30 05:17:38 -07:00
Johannes Fischer
bd5e854720 Add collision and avg velocity metrics 2021-07-30 13:35:42 +02:00
Arec
e30d0ab1ba removing outliers from expert tracks 2021-07-29 08:20:40 -07:00
Arec
3b4ef6ffb5 adding tool for visualizing acceleration distributions, and making nframes an arg 2021-07-29 07:35:21 -07:00