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
Arec
563a2cfbd4
making a differentiable transform for use for pytorch, making sure the fitting function treats nans properly while fitting. next issue: forward pass is returning nans
2021-07-22 12:37:36 -07:00
Arec
08eb898812
adding dtypes and fixing matrix indexing
2021-07-22 12:06:42 -07:00
Johannes Fischer
1c22bd6111
bugfix in deepsets
2021-07-22 18:44:12 +02:00
Arec
91d052445e
making test case for typing bug and fixing some small typing errors in bc
2021-07-22 08:23:46 -07:00
Johannes Fischer
827a8e7172
bugfix in Phi module
...
nn.ModuleList has to be used in order to register layer parameters as module parameters (similar to add_module)
2021-07-22 14:33:05 +02:00
Arec
1ca9914bf9
fixing bugs in transform, expert demo processing, main train function, and behavior cloning class. need to get bc class parameters to return nonempty list
2021-07-21 09:44:20 -07:00
Arec
5758af5dd8
Merge branch 'main' of https://github.com/sisl/InteractionImitation into main
2021-07-21 08:22:15 -07:00
Arec
18b8e0c58f
updating main testing function to use configs and seeds, finishing first pass at behavior cloning policy and training loop. not yet tested
2021-07-21 08:22:08 -07:00
Arec
4350cf8cd5
defining transform class to do tensor size manipulation before and after transform
2021-07-21 08:20:55 -07:00
Arec
3422e9c9ef
exporting policy class and letting default final activation do nothing
2021-07-21 08:20:15 -07:00
Johannes Fischer
ca0f520c89
Merge branch 'main' of github.com:sisl/InteractionImitation
2021-07-20 18:44:11 +02:00
Johannes Fischer
61f06c95c2
Improve deepsets module
...
module can now deal with nan values for nonexisting relative states
in case all relative states are nan, the latent representation is zeroed, which is consitent with an empty sum
2021-07-20 18:44:07 +02:00
Johannes Fischer
ffdff12ccb
Update deepsets to deal with nans (first version)
2021-07-20 18:23:51 +02:00
Arec
6794b4cad8
making saving and loading functions class requirements, working on behavior cloning policy class and training function
2021-07-20 08:29:00 -07:00
Arec
1a74fa5237
making general-purpose metric function
2021-07-20 07:05:09 -07:00
Johannes Fischer
226a427436
Adapt policy input format
2021-07-20 15:45:15 +02:00
Johannes Fischer
7109afb21f
Merge branch 'main' of github.com:sisl/InteractionImitation
2021-07-20 15:25:10 +02:00
Johannes Fischer
ba10a1f53b
Implement transforms for normalization
2021-07-20 15:24:34 +02:00
Arec
a15e8c29ff
moving transforms out of dataset class, will be exclusively in policy classes
2021-07-20 06:16:54 -07:00
Arec
2fb5d5e5b1
developing main experiment loop, functions required to implement in bc and other imitation methods
2021-07-20 05:58:24 -07:00
Arec
c0755f5bb5
Merge branch 'main' of https://github.com/sisl/InteractionImitation into main
2021-07-20 05:46:47 -07:00
Arec
2e29f42d75
add flag to process all tracks of a particular location
2021-07-20 05:46:43 -07:00
Johannes Fischer
ee7b6b607f
Fix deprecation warning in sigmoid
2021-07-20 12:52:02 +02:00
Arec
793bb64af4
adding data loader class
2021-07-19 13:07:09 -07:00
Johannes Fischer
ea460d07d2
Merge branch 'main' of github.com:sisl/InteractionImitation
2021-07-19 18:39:01 +02:00
Johannes Fischer
49e32fe37b
Add test and example config for DeepSetsPolicy
2021-07-19 18:38:50 +02:00
Johannes Fischer
0e6b1e102e
Update deepsets phi module to allow different final activation
2021-07-19 18:36:52 +02:00
Arec
6964cb0c6c
got processing of expert demonstrations functional
2021-07-19 08:53:01 -07:00
Johannes Fischer
3cd43d8c3a
Merge branch 'main' of github.com:sisl/InteractionImitation
2021-07-19 17:28:49 +02:00
Johannes Fischer
ac5bbce72a
Implement deepsets and deepsets policy, add tests
2021-07-19 17:28:42 +02:00
Arec
8acfbc7993
updating expert data to keep track of deviations and check for collisions
2021-07-19 07:10:28 -07:00
