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Author SHA1 Message Date
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
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
5a7090a21c Merge branch 'main' of https://github.com/sisl/InteractionImitation into main 2021-07-27 14:32:52 -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
Johannes Fischer
2bd638c247 Test for batch data in test_deepsets_policy 2021-07-27 12:37:40 +02:00
Arec
ca80fa19eb Merge branch 'main' of https://github.com/sisl/InteractionImitation into main 2021-07-26 07:52:19 -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
Johannes Fischer
5e89a83c88 Fix tests 2021-07-26 16:35:45 +02:00
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
969812c5cc Merge branch 'main' of https://github.com/sisl/InteractionImitation into main 2021-07-23 04:44:57 -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
Johannes Fischer
8a4094037a update forward pass test 2021-07-23 11:16:08 +02:00
Arec
acd2b730a6 adding transforms to test case 2021-07-23 01:38:20 -07:00
Arec
5c15ec2db1 Merge branch 'main' of https://github.com/sisl/InteractionImitation into main 2021-07-23 01:28:07 -07:00
Arec
9c7fc47abe updating test batch 2021-07-23 01:27:57 -07:00
Johannes Fischer
5d3b3fa1bc Merge branch 'main' of github.com:sisl/InteractionImitation 2021-07-23 09:30:26 +02:00
Johannes Fischer
9b0aeb182f Add .vscode to gitignore 2021-07-23 09:30:23 +02:00
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