Compare commits
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a9314c4657
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smaller-co
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e1f2d58255 |
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.gitignore
vendored
2
.gitignore
vendored
@@ -1,9 +1,7 @@
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*.png
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*.pkl
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*.pkl
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*.pt
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*.pt
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*.zip
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*.zip
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**/ray/*
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**/ray/*
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**/runs/*
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# Byte-compiled / optimized / DLL files
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# Byte-compiled / optimized / DLL files
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__pycache__/
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__pycache__/
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212
bc-experiment.py
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bc-experiment.py
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# %%
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import os
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from tqdm import tqdm
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from src.core.sampling import rollout
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from src.core.gail import gail_ppo, Buffer
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from src.core.value import SetValue
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from src.core.policy import SetPolicy
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from src.core.discriminator import DeepsetDiscriminator
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import torch
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from intersim.envs import IntersimpleLidarFlatRandom
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from intersim.envs.intersimple import speed_reward
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import functools
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from src.util.wrappers import CollisionPenaltyWrapper, TransformObservation, Setobs
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import numpy as np
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from torch.utils.tensorboard import SummaryWriter
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from ray import tune
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from datetime import datetime
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import json
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DIR = os.path.dirname(os.path.abspath(__file__))
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activations = [torch.nn.Tanh, torch.nn.LeakyReLU]
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obs_min = np.array([
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[-1000, -1000, 0, -np.pi, -1e-1, 0.],
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[0, -np.pi, -20, -20, -np.pi, -1e-1],
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[0, -np.pi, -20, -20, -np.pi, -1e-1],
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[0, -np.pi, -20, -20, -np.pi, -1e-1],
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[0, -np.pi, -20, -20, -np.pi, -1e-1],
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[0, -np.pi, -20, -20, -np.pi, -1e-1],
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]).reshape(-1)
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obs_max = np.array([
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[1000, 1000, 20, np.pi, 1e-1, 0.],
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[50, np.pi, 20, 20, np.pi, 1e-1],
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[50, np.pi, 20, 20, np.pi, 1e-1],
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[50, np.pi, 20, 20, np.pi, 1e-1],
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[50, np.pi, 20, 20, np.pi, 1e-1],
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[50, np.pi, 20, 20, np.pi, 1e-1],
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]).reshape(-1)
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def training_function(config):
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np.random.seed(config['seed'])
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torch.manual_seed(config['seed'])
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# choose validation environment
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if config['experiment'] == 'A':
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envs = [Setobs(TransformObservation(CollisionPenaltyWrapper(
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IntersimpleLidarFlatRandom(
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n_rays=5,
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reward=functools.partial(
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speed_reward,
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collision_penalty=0
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),
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check_collisions=True,
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stop_on_collision=config['trainenv']['stop_on_collision'],
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), collision_distance=6, collision_penalty=100),
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lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10)
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)) for _ in range(60)]
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elif config['experiment'] == 'B':
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envs = sum([[Setobs(TransformObservation(CollisionPenaltyWrapper(
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IntersimpleLidarFlatRandom(
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n_rays=5,
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reward=functools.partial(
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speed_reward,
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collision_penalty=0
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),
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check_collisions=True,
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stop_on_collision=config['trainenv']['stop_on_collision'],
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), collision_distance=6, collision_penalty=100),
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lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10)
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)) for _ in range(15)] for track in range(4)],[])
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else:
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raise NotImplementedError
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env_fn = lambda i: envs[i]
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# load expert data
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if config['experiment'] == 'A':
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expert_data = torch.load(os.path.join(DIR, 'intersimple-expert-data-setobs2-loc0-track0.pt'))
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elif config['experiment'] == 'B':
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expert_data = [
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torch.load(os.path.join(DIR, 'intersimple-expert-data-setobs2-loc0-track0.pt')),
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torch.load(os.path.join(DIR, 'intersimple-expert-data-setobs2-loc0-track1.pt')),
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torch.load(os.path.join(DIR, 'intersimple-expert-data-setobs2-loc0-track2.pt')),
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torch.load(os.path.join(DIR, 'intersimple-expert-data-setobs2-loc0-track3.pt')),
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]
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d0 = [d[0] for d in expert_data]
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d1 = [d[1] for d in expert_data]
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d2 = [d[2] for d in expert_data]
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d3 = [d[3] for d in expert_data]
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expert_data = (torch.cat(d0), torch.cat(d1), torch.cat(d2), torch.cat(d3))
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expert_data = Buffer(*expert_data)
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# configure and train policy
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device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
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policy = SetPolicy(expert_data.actions.shape[-1],
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n_hidden_layers=config['policy']['n_hidden_layers'],
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hidden_layer_size=config['policy']['hidden_layer_size'],
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activation=activations[config['policy']['activation']] ) # config net architecture
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policy = policy.to(device)
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pi_opt = torch.optim.Adam(policy.parameters(), lr=config['policy']['learning_rate'])
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pi_lr_scheduler = torch.optim.lr_scheduler.ExponentialLR(pi_opt, gamma=config['policy']['learning_rate_decay'])
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expert_states = expert_data.states[~expert_data.dones].to(device)
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expert_actions = expert_data.actions[~expert_data.dones].to(device)
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for epoch in range(config['train_epochs']):
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pi_opt.zero_grad()
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loss = -policy.log_prob(policy(expert_states), expert_actions).mean()
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loss.backward()
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pi_opt.step()
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pi_lr_scheduler.step()
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if epoch % 25 == 0:
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gen_states, gen_actions, gen_rewards, gen_dones, gen_collisions = rollout(env_fn, policy.cpu(), n_episodes=60, max_steps_per_episode=200)
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gen_mean_episode_length = (~gen_dones).sum() / gen_states.shape[0]
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gen_mean_reward_per_episode = gen_rewards[~gen_dones].sum() / gen_states.shape[0]
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gen_collision_rate = (1. * gen_collisions.any(-1)).mean()
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tune.report(
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gen_mean_reward_per_episode=gen_mean_reward_per_episode.item(),
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mean_episode_length=gen_mean_episode_length.item(),
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gen_collision_rate=gen_collision_rate.item(),
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loss=loss.item(),
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)
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# save model checkpoints
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ep = epoch + 1
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if (ep % 50 == 0):
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torch.save(policy.state_dict(), f'policy_epoch{ep}.pt')
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# save model
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torch.save(policy.state_dict(), 'policy_final.pt')
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if __name__ == '__main__':
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import argparse
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parser = argparse.ArgumentParser()
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parser.add_argument('--train', choices=['A', 'B'])
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parser.add_argument('--epochs', type=int, default=1000)
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parser.add_argument('--test', type=str, help='path to config file to run final training on')
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parser.add_argument('--test_seeds', type=int, default=5)
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parser.add_argument('--test_cpus', type=int, help='number of cpus available to split test seed training over')
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args = parser.parse_args()
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assert (args.train is None) ^ (args.test is None), 'Must either train on an experiment or test with a config file'
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# if no test config specified, train
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if args.test is None:
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print('Running Tuning for Experiment %s'%(args.train))
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analysis = tune.run(
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training_function,
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config={
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'experiment': args.train,
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'trainenv': {
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'stop_on_collision': False,
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},
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'policy': {
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'learning_rate': 3e-4,
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'learning_rate_decay': tune.grid_search([0.001, 1.0]),
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'hidden_layer_size': tune.grid_search([10, 20, 40, 80]),
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'n_hidden_layers': tune.grid_search([2, 3, 4]),
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'activation':0,
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},
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'train_epochs': args.epochs,
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'seed': 0,
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}
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# TODO resources_per_trial={'gpu': 1}
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)
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best_config = analysis.get_best_config(metric='gen_collision_rate', mode='min')
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print('Best config: ', best_config)
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# safe best_config
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if not os.path.isdir(os.path.join(DIR, 'best_configs')):
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os.mkdir(os.path.join(DIR, 'best_configs'))
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# save gail
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with open(os.path.join(DIR, 'best_configs',f'bc_exp{args.train}.json'), 'w', encoding='utf-8') as f:
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json.dump(best_config, f, ensure_ascii=False, indent=4)
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# if config file specified, rerun it with appropriate number of seeds
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else:
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with open(args.test, 'rb') as f:
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config = json.load(f)
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print(f'Retraining {args.test} with {args.test_seeds} seeds on experiment {config["experiment"]}')
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# rerun with appropriate number of seeds
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rpt = {'cpu': int(args.test_cpus/args.test_seeds)} if (args.test_cpus is not None) else None
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config['seed'] = tune.grid_search(list(range(1,args.test_seeds+1)))
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analysis = tune.run(training_function, config=config, resources_per_trial=rpt)
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# move final policies to appropriate directory
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split_ = os.path.basename(args.test).split('_')
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model = split_[0]
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exper = split_[-1].split('.')[0]
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savepath = os.path.join('test_policies',model,exper)
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if not os.path.isdir(savepath):
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os.makedirs(savepath)
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import shutil
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for i in range(args.test_seeds):
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s = analysis._checkpoints[i]['config']['seed']
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check_dir = analysis._checkpoints[i]['logdir']
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shutil.copyfile(os.path.join(check_dir,'policy_final.pt'),
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os.path.join(savepath, f'policy_seed{s}.pt'))
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@@ -1,15 +0,0 @@
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{
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"experiment": "A",
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"trainenv": {
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"stop_on_collision": false
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},
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"policy": {
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"learning_rate": 0.0003,
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"learning_rate_decay": 1.0,
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"hidden_layer_size": 40,
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"n_hidden_layers": 2,
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"activation": 0
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},
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"train_epochs": 300,
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"seed": 0
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}
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@@ -1,15 +0,0 @@
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{
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"experiment": "B",
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"trainenv": {
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"stop_on_collision": false
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},
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"policy": {
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"learning_rate": 0.0003,
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"learning_rate_decay": 1.0,
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"hidden_layer_size": 40,
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"n_hidden_layers": 2,
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"activation": 0
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},
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"train_epochs": 300,
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"seed": 0
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}
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@@ -1,31 +0,0 @@
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{
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"experiment": "A",
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"trainenv": {
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"stop_on_collision": false
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},
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"policy": {
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"learning_rate": 0.0003,
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"learning_rate_decay": 1.0,
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"delta": 0.01,
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"iterations_per_epoch": 100,
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"hidden_layer_size": 40,
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"n_hidden_layers": 2,
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"activation": 0
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},
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"value": {
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"learning_rate": 0.0001,
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"weight_decay": 0.001,
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"iterations_per_epoch": 1000
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},
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"discriminator": {
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"learning_rate": 0.001,
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"weight_decay": 0.0001,
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"iterations_per_epoch": 100,
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"n_hidden_layers_element": 4,
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"n_hidden_layers_global": 1,
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"hidden_layer_size": 10,
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"activation": 0
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},
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"train_epochs": 100,
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"seed": 0
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}
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@@ -1,31 +0,0 @@
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{
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"experiment": "B",
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"trainenv": {
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"stop_on_collision": false
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},
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"policy": {
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"learning_rate": 0.0003,
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"learning_rate_decay": 1.0,
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"delta": 0.01,
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"iterations_per_epoch": 100,
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"hidden_layer_size": 40,
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"n_hidden_layers": 2,
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"activation": 0
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},
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"value": {
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||||||
"learning_rate": 0.0001,
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||||||
"weight_decay": 0.001,
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"iterations_per_epoch": 1000
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},
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"discriminator": {
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"learning_rate": 0.001,
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"weight_decay": 0.0001,
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"iterations_per_epoch": 100,
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||||||
"n_hidden_layers_element": 4,
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||||||
"n_hidden_layers_global": 1,
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||||||
"hidden_layer_size": 10,
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||||||
"activation": 0
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||||||
},
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"train_epochs": 100,
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"seed": 0
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}
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@@ -1,31 +0,0 @@
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{
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"experiment": "A",
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"trainenv": {
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||||||
"stop_on_collision": false
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||||||
},
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||||||
"policy": {
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||||||
"learning_rate": 0.0003,
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||||||
"learning_rate_decay": 1.0,
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||||||
"clip_ratio": 0.2,
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||||||
"iterations_per_epoch": 100,
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||||||
"hidden_layer_size": 40,
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||||||
"n_hidden_layers": 2,
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||||||
"activation": 0
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||||||
},
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||||||
"value": {
|
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||||||
"learning_rate": 0.0001,
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||||||
"weight_decay": 0.001,
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||||||
"iterations_per_epoch": 1000
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||||||
},
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||||||
"discriminator": {
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||||||
"learning_rate": 0.001,
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||||||
"weight_decay": 0.0001,
|
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||||||
"iterations_per_epoch": 100,
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||||||
"n_hidden_layers_element": 4,
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||||||
"n_hidden_layers_global": 1,
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||||||
"hidden_layer_size": 10,
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||||||
"activation": 0
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||||||
},
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||||||
"train_epochs": 100,
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||||||
"seed": 0
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|
||||||
}
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||||||
@@ -1,31 +0,0 @@
|
|||||||
{
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||||||
"experiment": "B",
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||||||
"trainenv": {
|
|
||||||
"stop_on_collision": false
|
|
||||||
},
|
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||||||
"policy": {
|
|
||||||
"learning_rate": 0.0003,
|
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|
||||||
"learning_rate": 0.0003,
|
|
||||||
"learning_rate_decay": 1.0,
|
|
||||||
"clip_ratio": 0.2,
|
|
||||||
"iterations_per_epoch": 100,
|
|
||||||
"hidden_layer_size": 40,
|
|
||||||
"n_hidden_layers": 3,
|
|
||||||
"activation": 0,
|
|
||||||
"option": 0
|
|
||||||
},
|
|
||||||
"value": {
|
|
||||||
"learning_rate": 0.001,
|
|
||||||
"iterations_per_epoch": 1000
|
|
||||||
},
|
|
||||||
"discriminator": {
|
|
||||||
"learning_rate": 0.001,
|
|
||||||
"weight_decay": 0.0001,
|
|
||||||
"iterations_per_epoch": 100,
|
|
||||||
"n_hidden_layers_element": 3,
|
|
||||||
"n_hidden_layers_global": 2,
|
|
||||||
"hidden_layer_size": 10,
|
|
||||||
"activation": 0
|
|
||||||
},
|
|
||||||
"train_epochs": 100,
|
|
||||||
"seed": 0
|
|
||||||
}
|
|
||||||
@@ -1,33 +0,0 @@
|
|||||||
{
|
|
||||||
"experiment": "A",
|
|
||||||
"trainenv": {
|
|
||||||
"stop_on_collision": false,
|
|
||||||
"safe_actions_collision_method": "circle",
|
|
||||||
"abort_unsafe_collision_method": "circle"
|
|
||||||
},
|
|
||||||
"policy": {
|
|
||||||
"learning_rate": 0.0003,
|
|
||||||
"learning_rate_decay": 1.0,
|
|
||||||
"clip_ratio": 0.2,
|
|
||||||
"iterations_per_epoch": 100,
|
|
||||||
"hidden_layer_size": 20,
|
|
||||||
"n_hidden_layers": 4,
|
|
||||||
"activation": 0,
|
|
||||||
"option": 0
|
|
||||||
},
|
|
||||||
"value": {
|
|
||||||
"learning_rate": 0.001,
|
|
||||||
"iterations_per_epoch": 1000
|
|
||||||
},
|
|
||||||
"discriminator": {
|
|
||||||
"learning_rate": 0.001,
|
|
||||||
"weight_decay": 0.0001,
|
|
||||||
"iterations_per_epoch": 100,
|
|
||||||
"n_hidden_layers_element": 3,
|
|
||||||
"n_hidden_layers_global": 2,
|
|
||||||
"hidden_layer_size": 10,
|
|
||||||
"activation": 0
|
|
||||||
},
|
|
||||||
"train_epochs": 100,
|
|
||||||
"seed": 0
|
|
||||||
}
|
|
||||||
@@ -1,33 +0,0 @@
|
|||||||
{
|
|
||||||
"experiment": "B",
|
|
||||||
"trainenv": {
|
|
||||||
"stop_on_collision": false,
|
|
||||||
"safe_actions_collision_method": "circle",
|
|
||||||
"abort_unsafe_collision_method": "circle"
|
|
||||||
},
|
|
||||||
"policy": {
|
|
||||||
"learning_rate": 0.0003,
|
|
||||||
"learning_rate_decay": 1.0,
|
|
||||||
"clip_ratio": 0.2,
|
|
||||||
"iterations_per_epoch": 100,
|
|
||||||
"hidden_layer_size": 20,
|
|
||||||
"n_hidden_layers": 4,
|
|
||||||
"activation": 0,
|
|
||||||
"option": 0
|
|
||||||
},
|
|
||||||
"value": {
|
|
||||||
"learning_rate": 0.001,
|
|
||||||
"iterations_per_epoch": 1000
|
|
||||||
},
|
|
||||||
"discriminator": {
|
|
||||||
"learning_rate": 0.001,
|
|
||||||
"weight_decay": 0.0001,
|
|
||||||
"iterations_per_epoch": 100,
|
|
||||||
"n_hidden_layers_element": 3,
|
|
||||||
"n_hidden_layers_global": 2,
|
|
||||||
"hidden_layer_size": 10,
|
|
||||||
"activation": 0
|
|
||||||
},
|
|
||||||
"train_epochs": 100,
|
|
||||||
"seed": 0
|
|
||||||
}
|
|
||||||
@@ -1,33 +0,0 @@
|
|||||||
{
|
|
||||||
"experiment": "A",
|
|
||||||
"trainenv": {
|
|
||||||
"stop_on_collision": false,
|
|
||||||
"safe_actions_collision_method": "circle",
|
|
||||||
"abort_unsafe_collision_method": "circle"
|
|
||||||
},
|
|
||||||
"policy": {
|
|
||||||
"learning_rate": 0.0003,
|
|
||||||
"learning_rate_decay": 1.0,
|
|
||||||
"clip_ratio": 0.2,
|
|
||||||
"iterations_per_epoch": 100,
|
|
||||||
"hidden_layer_size": 40,
|
|
||||||
"n_hidden_layers": 2,
|
|
||||||
"activation": 0,
|
|
||||||
"option": 0
|
|
||||||
},
|
|
||||||
"value": {
|
|
||||||
"learning_rate": 0.001,
|
|
||||||
"iterations_per_epoch": 1000
|
|
||||||
},
|
|
||||||
"discriminator": {
|
|
||||||
"learning_rate": 0.001,
|
|
||||||
"weight_decay": 0.0001,
|
|
||||||
"iterations_per_epoch": 100,
|
|
||||||
"n_hidden_layers_element": 4,
|
|
||||||
"n_hidden_layers_global": 1,
|
|
||||||
"hidden_layer_size": 10,
|
|
||||||
"activation": 0
|
|
||||||
},
|
|
||||||
"train_epochs": 90,
|
|
||||||
"seed": 0
|
|
||||||
}
|
|
||||||
@@ -1,33 +0,0 @@
|
|||||||
{
|
|
||||||
"experiment": "B",
|
|
||||||
"trainenv": {
|
|
||||||
"stop_on_collision": false,
|
|
||||||
"safe_actions_collision_method": "circle",
|
|
||||||
"abort_unsafe_collision_method": "circle"
|
|
||||||
},
|
|
||||||
"policy": {
|
|
||||||
"learning_rate": 0.0003,
|
|
||||||
"learning_rate_decay": 1.0,
|
|
||||||
"clip_ratio": 0.2,
|
|
||||||
"iterations_per_epoch": 100,
|
|
||||||
"hidden_layer_size": 20,
|
|
||||||
"n_hidden_layers": 2,
|
|
||||||
"activation": 0,
|
|
||||||
"option": 0
|
|
||||||
},
|
|
||||||
"value": {
|
|
||||||
"learning_rate": 0.001,
|
|
||||||
"iterations_per_epoch": 1000
|
|
||||||
},
|
|
||||||
"discriminator": {
|
|
||||||
"learning_rate": 0.001,
|
|
||||||
"weight_decay": 0.0001,
|
|
||||||
"iterations_per_epoch": 100,
|
|
||||||
"n_hidden_layers_element": 4,
|
|
||||||
"n_hidden_layers_global": 2,
|
|
||||||
"hidden_layer_size": 10,
|
|
||||||
"activation": 0
|
|
||||||
},
|
|
||||||
"train_epochs": 85,
|
|
||||||
"seed": 0
|
|
||||||
}
|
|
||||||
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@@ -1,100 +0,0 @@
|
|||||||
import os
|
|
||||||
from src.eval_main import eval_main
|
|
||||||
from src.evaluation.utils import load_and_average
|
|
||||||
import torch
|
|
||||||
import json
|
|
||||||
|
|
||||||
activations = [torch.nn.Tanh, torch.nn.LeakyReLU]
|
|
||||||
|
|
||||||
def main(method:str='expert', folder:str=None, locations=[(0,0)], skip_running=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', {}
|
|
||||||
elif method in ['bc','gail']:
|
|
||||||
env='NormalizedContinuousEvalEnv'
|
|
||||||
env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000}
|
|
||||||
elif method in ['hail']:
|
|
||||||
env = 'NormalizedSafeOptionsEvalEnv'
|
|
||||||
env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000, 'safe_actions_collision_method': None, 'abort_unsafe_collision_method': None}
|
|
||||||
elif method in ['shail']:
|
|
||||||
env = 'NormalizedSafeOptionsEvalEnv'
|
|
||||||
env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000}
|
|
||||||
else:
|
|
||||||
raise NotImplementedError
|
|
||||||
|
|
||||||
files = ['']
|
|
||||||
|
|
||||||
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')]
|
|
||||||
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'])
|
|
||||||
|
|
||||||
policy_config = {k: v for k, v in config['policy'].items() if k not in exclude_keys_from_policy_kwargs}
|
|
||||||
policy_config['activation'] = activations[policy_config['activation']]
|
|
||||||
print('final policy config', policy_config)
|
|
||||||
|
|
||||||
policy_kwargs.update(policy_config)
|
|
||||||
print('final policy kwargs', policy_kwargs)
|
|
||||||
|
|
||||||
if not skip_running:
|
|
||||||
for policy_file in files:
|
|
||||||
# run metrics on that file
|
|
||||||
outbase = eval_main(locations=locations,
|
|
||||||
method=method,
|
|
||||||
policy_file=policy_file,
|
|
||||||
policy_kwargs=policy_kwargs,
|
|
||||||
env=env,
|
|
||||||
env_kwargs=env_kwargs)
|
|
||||||
outfolder = os.path.dirname(outbase)
|
|
||||||
else:
|
|
||||||
locstr = 'loc_'+'_'.join([f'r{ro}t{tr}' for (ro,tr) in locations])
|
|
||||||
if folder is None:
|
|
||||||
outfolder = os.path.join('out',method,locstr)
|
|
||||||
else:
|
|
||||||
path_items = folder.split('/')
|
|
||||||
outfolder = os.path.join('out', '/'.join(path_items[1:]), locstr)
|
|
||||||
|
|
||||||
# load metrics from save_path
|
|
||||||
average_metrics = load_and_average(outfolder)
|
|
||||||
if method in ['expert', 'idm']:
|
|
||||||
latex_print(average_metrics, light=True)
|
|
||||||
else:
|
|
||||||
latex_print(average_metrics)
|
|
||||||
|
|
||||||
def latex_print(am, light=False):
|
|
||||||
"""
|
|
||||||
print latex line
|
|
||||||
|
|
||||||
am (Dict[str,tuple]): dict mapping metric_name to (mean, std)
|
|
||||||
"""
|
|
||||||
|
|
||||||
print('success rate, distance travelled, RWSE_10, |DeltaV|, AccelJSD')
|
|
||||||
if light:
|
|
||||||
if 'rwse_10s' in am.keys():
|
|
||||||
print("%2.1f& %2.1f & %1.2f & %2.1f& "
|
|
||||||
"%0.3f \\\\" %( 100*am['success rate'][0], am['mean travel distance'][0], am['rwse_10s'][0],
|
|
||||||
am['average absolute average velocity'][0],am['acceleration distribution divergence'][0] ))
|
|
||||||
return
|
|
||||||
|
|
||||||
|
|
||||||
print("%2.1f& %2.1f & $---$ & $---$ & "
|
|
||||||
"$---$ \\\\" %( 100*am['success rate'][0], am['mean travel distance'][0]))
|
|
||||||
return
|
|
||||||
|
|
||||||
print("%2.1f \\scriptstyle\\pm %2.1f & %2.1f \\scriptstyle\\pm %2.1f & "
|
|
||||||
"%1.2f \\scriptstyle\\pm %1.2f & %2.1f \\scriptstyle\\pm %1.1f & "
|
|
||||||
"%0.3f \\scriptstyle\\pm %0.3f \\\\" %( 100*am['success rate'][0], 100*am['success rate'][1],
|
|
||||||
am['mean travel distance'][0] , am['mean travel distance'][1] ,
|
|
||||||
am['rwse_10s'][0] , am['rwse_10s'][1] ,
|
|
||||||
am['average absolute average velocity'][0] , am['average absolute average velocity'][1] ,
|
|
||||||
am['acceleration distribution divergence'][0] , am['acceleration distribution divergence'][1] ))
|
|
||||||
|
|
||||||
if __name__=='__main__':
|
|
||||||
import fire
|
|
||||||
fire.Fire(main)
|
|
||||||
@@ -1,19 +0,0 @@
|
|||||||
# can add --skip_running if you've run the runs before on the saved policies
|
|
||||||
|
|
||||||
python -m eval_experiments
|
|
||||||
python -m eval_experiments --locations='[(0,4)]'
|
|
||||||
python -m eval_experiments --method idm
|
|
||||||
python -m eval_experiments --method idm --locations='[(0,4)]'
|
|
||||||
python -m eval_experiments --method bc --folder='test_policies/bc/expA'
|
|
||||||
python -m eval_experiments --method bc --folder='test_policies/bc/expB' --locations='[(0,4)]'
|
|
||||||
python -m eval_experiments --method gail --folder='test_policies/gail/expA'
|
|
||||||
python -m eval_experiments --method gail --folder='test_policies/gail/expB' --locations='[(0,4)]'
|
|
||||||
python -m eval_experiments --method hail --folder='test_policies/hail/expA'
|
|
||||||
python -m eval_experiments --method hail --folder='test_policies/hail/expB' --locations='[(0,4)]'
|
|
||||||
python -m eval_experiments --method shail --folder='test_policies/shail/expA'
|
|
||||||
python -m eval_experiments --method shail --folder='test_policies/shail/expB' --locations='[(0,4)]'
|
|
||||||
|
|
||||||
python -m eval_experiments --method hail --folder='test_policies/hail-etienne/expA'
|
|
||||||
python -m eval_experiments --method hail --folder='test_policies/hail-etienne/expB' --locations='[(0,4)]'
|
|
||||||
python -m eval_experiments --method shail --folder='test_policies/shail-etienne/expA'
|
|
||||||
python -m eval_experiments --method shail --folder='test_policies/shail-etienne/expB' --locations='[(0,4)]'
|
|
||||||
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@@ -1,238 +0,0 @@
|
|||||||
# %%
|
|
||||||
import os
|
|
||||||
|
|
||||||
import gym
|
|
||||||
from src.core.gail import gail_ppo, Buffer
|
|
||||||
from src.core.value import SetValue
|
|
||||||
from src.core.policy import SetPolicy
|
|
||||||
from src.core.discriminator import DeepsetDiscriminator
|
|
||||||
import torch
|
|
||||||
|
|
||||||
from intersim.envs import IntersimpleLidarFlatRandom
|
|
||||||
from intersim.envs.intersimple import speed_reward
|
|
||||||
import functools
|
|
||||||
from src.util.wrappers import CollisionPenaltyWrapper, TransformObservation, Setobs
|
|
||||||
import numpy as np
|
|
||||||
from torch.utils.tensorboard import SummaryWriter
|
|
||||||
from ray import tune
|
|
||||||
from datetime import datetime
|
|
||||||
import json
|
|
||||||
|
|
||||||
DIR = os.path.dirname(os.path.abspath(__file__))
|
|
||||||
activations = [torch.nn.Tanh, torch.nn.LeakyReLU]
|
|
||||||
|
|
||||||
obs_min = np.array([
|
|
||||||
[-1000, -1000, 0, -np.pi, -1e-1, 0.],
|
|
||||||
[0, -np.pi, -20, -20, -np.pi, -1e-1],
|
|
||||||
[0, -np.pi, -20, -20, -np.pi, -1e-1],
|
|
||||||
[0, -np.pi, -20, -20, -np.pi, -1e-1],
|
|
||||||
[0, -np.pi, -20, -20, -np.pi, -1e-1],
|
|
||||||
[0, -np.pi, -20, -20, -np.pi, -1e-1],
|
|
||||||
]).reshape(-1)
|
|
||||||
|
|
||||||
obs_max = np.array([
|
|
||||||
[1000, 1000, 20, np.pi, 1e-1, 0.],
|
|
||||||
[50, np.pi, 20, 20, np.pi, 1e-1],
|
|
||||||
[50, np.pi, 20, 20, np.pi, 1e-1],
|
|
||||||
[50, np.pi, 20, 20, np.pi, 1e-1],
|
|
||||||
[50, np.pi, 20, 20, np.pi, 1e-1],
|
|
||||||
[50, np.pi, 20, 20, np.pi, 1e-1],
|
|
||||||
]).reshape(-1)
|
|
||||||
|
|
||||||
def training_function(config):
|
|
||||||
np.random.seed(config['seed'])
|
|
||||||
torch.manual_seed(config['seed'])
|
|
||||||
|
|
||||||
if config['experiment'] == 'A':
|
|
||||||
envs = [Setobs(TransformObservation(CollisionPenaltyWrapper(
|
|
||||||
IntersimpleLidarFlatRandom(
|
|
||||||
n_rays=5,
|
|
||||||
reward=functools.partial(
|
|
||||||
speed_reward,
|
|
||||||
collision_penalty=0
|
|
||||||
),
|
|
||||||
check_collisions=True,
|
|
||||||
stop_on_collision=config['trainenv']['stop_on_collision'],
|
|
||||||
), collision_distance=6, collision_penalty=100),
|
|
||||||
lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10)
|
|
||||||
)) for _ in range(60)]
|
|
||||||
|
|
||||||
elif config['experiment'] == 'B':
|
|
||||||
envs = sum([[Setobs(TransformObservation(CollisionPenaltyWrapper(
|
|
||||||
IntersimpleLidarFlatRandom(
|
|
||||||
n_rays=5,
|
|
||||||
reward=functools.partial(
|
|
||||||
speed_reward,
|
|
||||||
collision_penalty=0
|
|
||||||
),
|
|
||||||
check_collisions=True,
|
|
||||||
stop_on_collision=config['trainenv']['stop_on_collision'],
|
|
||||||
track=track,
|
|
||||||
), collision_distance=6, collision_penalty=100),
|
|
||||||
lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10)
|
|
||||||
)) for _ in range(15)] for track in range(4)],[])
|
|
||||||
|
|
||||||
else:
|
|
||||||
raise NotImplementedError
|
|
||||||
|
|
||||||
env_fn = lambda i: envs[i]
|
|
||||||
|
|
||||||
policy = SetPolicy(env_fn(0).action_space.shape[0],
|
|
||||||
n_hidden_layers=config['policy']['n_hidden_layers'],
|
|
||||||
hidden_layer_size=config['policy']['hidden_layer_size'],
|
|
||||||
activation=activations[config['policy']['activation']] ) # config net architecture
|
|
||||||
pi_opt = torch.optim.Adam(policy.parameters(), lr=config['policy']['learning_rate'])
|
|
||||||
pi_lr_scheduler = torch.optim.lr_scheduler.ExponentialLR(pi_opt, gamma=config['policy']['learning_rate_decay'])
|
|
||||||
|
|
||||||
value = SetValue() # config net architecture
|
|
||||||
v_opt = torch.optim.Adam(value.parameters(), lr=config['value']['learning_rate'], weight_decay=config['value']['weight_decay'])
|
|
||||||
|
|
||||||
discriminator = DeepsetDiscriminator(
|
|
||||||
n_hidden_layers_element=config['discriminator']['n_hidden_layers_element'],
|
|
||||||
n_hidden_layers_global=config['discriminator']['n_hidden_layers_global'],
|
|
||||||
hidden_layer_size=config['discriminator']['hidden_layer_size'],
|
|
||||||
activation=activations[config['discriminator']['activation']],
|
|
||||||
)
|
|
||||||
disc_opt = torch.optim.Adam(discriminator.parameters(), lr=config['discriminator']['learning_rate'], weight_decay=config['discriminator']['weight_decay'])
|
|
||||||
|
|
||||||
if config['experiment'] == 'A':
|
|
||||||
expert_data = torch.load(os.path.join(DIR, 'intersimple-expert-data-setobs2-loc0-track0.pt'))
|
|
||||||
elif config['experiment'] == 'B':
|
|
||||||
expert_data = [
|
|
||||||
torch.load(os.path.join(DIR, 'intersimple-expert-data-setobs2-loc0-track0.pt')),
|
|
||||||
torch.load(os.path.join(DIR, 'intersimple-expert-data-setobs2-loc0-track1.pt')),
|
|
||||||
torch.load(os.path.join(DIR, 'intersimple-expert-data-setobs2-loc0-track2.pt')),
|
|
||||||
torch.load(os.path.join(DIR, 'intersimple-expert-data-setobs2-loc0-track3.pt')),
|
|
||||||
]
|
|
||||||
d0 = [d[0] for d in expert_data]
|
|
||||||
d1 = [d[1] for d in expert_data]
|
|
||||||
d2 = [d[2] for d in expert_data]
|
|
||||||
d3 = [d[3] for d in expert_data]
|
|
||||||
expert_data = (torch.cat(d0), torch.cat(d1), torch.cat(d2), torch.cat(d3))
|
|
||||||
|
|
||||||
expert_data = Buffer(*expert_data)
|
|
||||||
|
|
||||||
def callback(info):
|
|
||||||
tune.report(gen_mean_reward_per_episode=info['gen/mean_reward_per_episode'],
|
|
||||||
disc_mean_reward_per_episode=info['disc/mean_reward_per_episode'],
|
|
||||||
mean_episode_length=info['gen/mean_episode_length'],
|
|
||||||
gen_collision_rate=info['gen/collision_rate'])
|
|
||||||
|
|
||||||
# save model checkpoints
|
|
||||||
ep = info['epoch'] + 1
|
|
||||||
if (ep % 25 == 0):
|
|
||||||
torch.save(info['policy'].state_dict(), f'policy_epoch{ep}.pt')
|
|
||||||
|
|
||||||
value, policy = gail_ppo(
|
|
||||||
env_fn=env_fn,
|
|
||||||
expert_data=expert_data,
|
|
||||||
discriminator=discriminator,
|
|
||||||
disc_opt=disc_opt,
|
|
||||||
disc_iters=config['discriminator']['iterations_per_epoch'],
|
|
||||||
policy=policy,
|
|
||||||
value=value,
|
|
||||||
v_opt=v_opt,
|
|
||||||
v_iters=config['value']['iterations_per_epoch'],
|
|
||||||
epochs=config['train_epochs'],
|
|
||||||
rollout_episodes=60,
|
|
||||||
rollout_steps=200,
|
|
||||||
gamma=0.99,
|
|
||||||
gae_lambda=0.9,
|
|
||||||
clip_ratio=config['policy']['clip_ratio'],
|
|
||||||
pi_opt=pi_opt,
|
|
||||||
pi_iters=config['policy']['iterations_per_epoch'],
|
|
||||||
logger=SummaryWriter(comment='gail-ppo-options-setobs2'),
|
|
||||||
callback=callback,
|
|
||||||
lr_schedulers=[pi_lr_scheduler],
|
|
||||||
)
|
|
||||||
|
|
||||||
# save model
|
|
||||||
torch.save(policy.state_dict(), 'policy_final.pt')
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
import argparse
|
|
||||||
parser = argparse.ArgumentParser()
|
|
||||||
parser.add_argument('--train', choices=['A', 'B'])
|
|
||||||
parser.add_argument('--epochs', type=int, default=200)
|
|
||||||
parser.add_argument('--test', type=str, help='path to config file to run final training on')
|
|
||||||
parser.add_argument('--test_seeds', type=int, default=5)
|
|
||||||
parser.add_argument('--test_cpus', type=int, help='number of cpus available to split test seed training over')
|
|
||||||
args = parser.parse_args()
|
|
||||||
|
|
||||||
assert (args.train is None) ^ (args.test is None), 'Must either train on an experiment or test with a config file'
|
|
||||||
|
|
||||||
# if no test config specified, train
|
|
||||||
if args.test is None:
|
|
||||||
print('Running Tuning for Experiment %s'%(args.train))
|
|
||||||
analysis = tune.run(
|
|
||||||
training_function,
|
|
||||||
config={
|
|
||||||
'experiment': args.train,
|
|
||||||
'trainenv': {
|
|
||||||
'stop_on_collision': False,
|
|
||||||
},
|
|
||||||
'policy': {
|
|
||||||
'learning_rate': 3e-4,
|
|
||||||
'learning_rate_decay': 1.0,
|
|
||||||
'clip_ratio': 0.2,
|
|
||||||
'iterations_per_epoch': 100,
|
|
||||||
'hidden_layer_size': tune.grid_search([20, 40]),
|
|
||||||
'n_hidden_layers': tune.grid_search([2, 3]),
|
|
||||||
'activation':0,
|
|
||||||
},
|
|
||||||
'value': {
|
|
||||||
'learning_rate': 1e-4,
|
|
||||||
'weight_decay': 1e-3,
|
|
||||||
'iterations_per_epoch': 1000,
|
|
||||||
},
|
|
||||||
'discriminator': {
|
|
||||||
'learning_rate': 1e-3,
|
|
||||||
'weight_decay': 1e-4,
|
|
||||||
'iterations_per_epoch': 100,
|
|
||||||
'n_hidden_layers_element': tune.grid_search([3,4]),
|
|
||||||
'n_hidden_layers_global': tune.grid_search([1,2]),
|
|
||||||
'hidden_layer_size': 10,
|
|
||||||
'activation': 0,
|
|
||||||
},
|
|
||||||
'train_epochs': args.epochs,
|
|
||||||
'seed': 0,
|
|
||||||
}
|
|
||||||
)
|
|
||||||
best_config = analysis.get_best_config(metric='gen_collision_rate', mode='min')
|
|
||||||
print('Best config: ', best_config)
|
|
||||||
|
|
||||||
# safe best_config
|
|
||||||
if not os.path.isdir(os.path.join(DIR, 'best_configs')):
|
|
||||||
os.mkdir(os.path.join(DIR, 'best_configs'))
|
|
||||||
|
|
||||||
# save gail
|
|
||||||
with open(os.path.join(DIR, 'best_configs',f'gail_exp{args.train}.json'), 'w', encoding='utf-8') as f:
|
|
||||||
json.dump(best_config, f, ensure_ascii=False, indent=4)
|
|
||||||
|
|
||||||
# if config file specified, rerun it with appropriate number of seeds
|
|
||||||
else:
|
|
||||||
with open(args.test, 'rb') as f:
|
|
||||||
config = json.load(f)
|
|
||||||
|
|
||||||
print(f'Retraining {args.test} with {args.test_seeds} seeds on experiment {config["experiment"]}')
|
|
||||||
|
|
||||||
# rerun with appropriate number of seeds
|
|
||||||
rpt = {'cpu': int(args.test_cpus/args.test_seeds)} if (args.test_cpus is not None) else None
|
|
||||||
config['seed'] = tune.grid_search(list(range(1,args.test_seeds+1)))
|
|
||||||
analysis = tune.run(training_function, config=config, resources_per_trial=rpt)
|
|
||||||
|
|
||||||
# move final policies to appropriate directory
|
|
||||||
split_ = os.path.basename(args.test).split('_')
|
|
||||||
model = split_[0]
|
|
||||||
exper = split_[-1].split('.')[0]
|
|
||||||
savepath = os.path.join('test_policies',model,exper)
|
|
||||||
|
|
||||||
if not os.path.isdir(savepath):
|
|
||||||
os.makedirs(savepath)
|
|
||||||
|
|
||||||
import shutil
|
|
||||||
for i in range(args.test_seeds):
|
|
||||||
s = analysis._checkpoints[i]['config']['seed']
|
|
||||||
check_dir = analysis._checkpoints[i]['logdir']
|
|
||||||
shutil.copyfile(os.path.join(check_dir,'policy_final.pt'),
|
|
||||||
os.path.join(savepath, f'policy_seed{s}.pt'))
|
|
||||||
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Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user