Johannes Fischer
0077c24074
precompute expert features
2021-10-28 18:16:00 +02:00
ebuehrle
b1740764e3
Parameterize number of discriminator updates per epoch
2021-10-28 17:58:42 +02:00
ebuehrle
8d7409c914
Check emergency braking in available actions
2021-10-28 17:54:58 +02:00
ebuehrle
f9e058a7d9
Vectorize available actions computation
2021-10-28 15:47:39 +02:00
Johannes Fischer
1bab1aaab7
Cleanup evaluation
2021-10-28 13:31:08 +02:00
Johannes Fischer
7ffcc0b4b8
Extract evaluation code to separate file
2021-10-28 13:29:00 +02:00
Johannes Fischer
2218d14409
Move metrics
2021-10-28 13:26:17 +02:00
Johannes Fischer
3857716cec
Rename predict to forward
...
This is done to be consistent with stable baselines interface. predict is then automatically defined. This is necessary to use stable baselines' evaluate_policy method
2021-10-28 09:42:27 +02:00
ebuehrle
bcddf422f0
Move files to src
2021-10-26 17:41:05 +02:00
Arec
06785236d4
fixing expert data combiner and adding feasibility checking with all options to util.collisions
2021-10-21 06:59:21 -07:00
Arec
2d8928f2ae
updating data processing scripts to output to the correct location
2021-10-21 06:29:43 -07:00
Arec
05b31092f4
moving options policy to policies, commenting options image, and making the calls to train more flexible
2021-10-21 05:59:28 -07:00
Arec
45a99978e4
adding discriminators to main folder, utilities to render a video from a saved model
2021-10-21 05:33:05 -07:00
Arec
da1fb11269
adding functions to process expert data across locations and tracks in intersimple environment
2021-10-21 05:21:06 -07:00
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
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
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
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
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
Arec
fb91ee1a62
Merge branch 'main' of https://github.com/sisl/InteractionImitation into main
2021-07-30 05:17:43 -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
Johannes Fischer
afc3719ab9
Fix bug with wrong argument order
2021-07-29 15:30:55 +02:00
Johannes Fischer
3b623a1467
Add testing script for raytune experiments
2021-07-29 15:30:41 +02:00
Johannes Fischer
35634fd2eb
Separate experiment from main.py
2021-07-29 14:40:19 +02:00
Arec
e47d69dbc1
changing relative state dim to 6
2021-07-29 02:54:41 -07:00
Arec
fdbdc7f9f0
making data processing happen on front end, not on data loader. saving a ton of time
2021-07-29 02:53:20 -07:00
Arec
09f77e0587
changing how tune reporting works so the scheduler doesnt break if itcant find cv loss. also fixed bug in config structure that was rendering impossible policies
2021-07-28 09:55:11 -07:00
Arec
87aa19b86b
getting hyperparameter tunning with ray tune working. updating default network with optimization and general parameters.
2021-07-27 14:30:28 -07:00
Arec
d9436daaba
changing default network, making deepsets network choose output dimension appropriately, making bc config to be called by ray
2021-07-26 07:52:11 -07:00
Arec
69359b5af3
periodically savingin out model and adding functionality to make identity Phi networks (for 0-dim NNs)
2021-07-26 05:51:08 -07:00
Arec
7b2ca6edc7
adding tensorboard writer for training loss and cv loss
2021-07-26 02:38:50 -07:00
Arec
5b09374c77
getting training and testing loop working, adding tqdm to simulator, and reduced number of frames, updating readme
2021-07-23 04:44:50 -07:00
