Only take targets driving roughly in the same direction as IDM target

bc-experiment.py

@@ -162,9 +162,9 @@ if __name__ == '__main__':
                 },
                 'policy': {
                     'learning_rate': 3e-4, 
-                    'learning_rate_decay': tune.grid_search([0.001, 1.0]), 
+                    'learning_rate_decay': 1.0, 
-                    'hidden_layer_size': tune.grid_search([10, 20, 40, 80]),
+                    'hidden_layer_size': tune.grid_search([20, 40]),
-                    'n_hidden_layers': tune.grid_search([2, 3, 4]), 
+                    'n_hidden_layers': tune.grid_search([2, 3]), 
                     'activation':0,
                 },
                 'train_epochs': args.epochs,

best_configs/shail-etienne4_expA.json

@@ -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": 500,
-        "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": 150,
-    "seed": 0
-}

eval_experiments.py

@@ -1,23 +1,17 @@
 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 = 'NormalizedOptionsEvalEnv'
         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'
@@ -29,18 +23,7 @@ def main(method:str='expert', folder:str=None, locations=[(0,0)], skip_running=F
 
     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')]
+        print('%i folders found in %s folder' %(len(files), folder))
-        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:

shail-experiment.py

@@ -62,7 +62,7 @@ def training_function(config):
             ), options=option_list[config['policy']['option']],
             safe_actions_collision_method=config['trainenv']['safe_actions_collision_method'], 
             abort_unsafe_collision_method=config['trainenv']['abort_unsafe_collision_method'],
-            ) for _ in range(120)]
+            ) for _ in range(60)]
 
     elif config['experiment'] == 'B': 
         envs = sum([[SafeOptionsEnv(Setobs(
@@ -78,7 +78,7 @@ def training_function(config):
             ), options=option_list[config['policy']['option']],
             safe_actions_collision_method=config['trainenv']['safe_actions_collision_method'], 
             abort_unsafe_collision_method=config['trainenv']['abort_unsafe_collision_method'],
-            ) for _ in range(30)] for track in range(4)],[])
+            ) for _ in range(15)] for track in range(4)],[])
     
     else:
         raise NotImplementedError
@@ -142,7 +142,7 @@ def training_function(config):
         v_opt=v_opt,
         v_iters=config['value']['iterations_per_epoch'],
         epochs=config['train_epochs'],
-        rollout_episodes=120, 
+        rollout_episodes=60, 
         rollout_steps=60,
         gamma=0.99,
         gae_lambda=0.9,
@@ -185,11 +185,11 @@ if __name__ == '__main__':
                     'learning_rate': 3e-4, 
                     'learning_rate_decay': 1.0, 
                     'clip_ratio': 0.2, 
-                    'iterations_per_epoch': tune.grid_search([250, 500, 750]),
+                    'iterations_per_epoch': 100,
-                    'hidden_layer_size': 40, #tune.grid_search([20, 40]),
+                    'hidden_layer_size': tune.grid_search([20, 40]),
-                    'n_hidden_layers': 3, #tune.grid_search([2, 3]), 
+                    'n_hidden_layers': tune.grid_search([2, 3]), 
                     'activation':0,
-                    'option': 0, #tune.grid_search(list(range(len(option_list))))
+                    'option': tune.grid_search(list(range(len(option_list))))
                 },
                 'value': {
                     'learning_rate': 1e-3, 
@@ -199,8 +199,8 @@ if __name__ == '__main__':
                     'learning_rate': 1e-3, 
                     'weight_decay': 1e-4, 
                     'iterations_per_epoch': 100, 
-                    'n_hidden_layers_element': 3, #tune.grid_search([3,4]),
+                    'n_hidden_layers_element': tune.grid_search([3,4]),
-                    'n_hidden_layers_global': 2, #tune.grid_search([1,2]),
+                    'n_hidden_layers_global': tune.grid_search([1,2]),
                     'hidden_layer_size': 10, 
                     'activation': 0,
                 },
@@ -247,13 +247,6 @@ if __name__ == '__main__':
             os.makedirs(savepath)
         
         import shutil
-
-        # save config
-        shutil.copyfile(
-            args.test,
-            os.path.join(savepath, 'config.json')
-        )
-
         for i in range(args.test_seeds):
             s = analysis._checkpoints[i]['config']['seed']
             check_dir = analysis._checkpoints[i]['logdir']

src/baselines/rule_policies.py

@@ -82,6 +82,7 @@ class IDMRulePolicy(BaseAlgorithm):
         self._env = env
         self.t_future = t_future
         self.half_angle = half_angle
+        self.max_heading_diff = 120
 
         # Default IDM parameters
         assert target_speed>0, 'negative target speed'
@@ -192,7 +193,11 @@ class IDMRulePolicy(BaseAlgorithm):
         dl = (dxys*np.hstack((-np.sin(psi), np.cos(psi)))).sum(-1) # (nv, )
         alpha = to_circle(np.arctan2(dl, df))
 
-        val_idx = np.arange(nv)[(np.abs(alpha) < self.half_angle*np.pi/180) & (np.arange(nv) != agent)]
+        heading_diff = to_circle(psi - psi[agent]).flatten()
+
+        val_idx = np.arange(nv)[
+            (np.abs(alpha) < self.half_angle*np.pi/180) & (np.arange(nv) != agent) & (np.abs(heading_diff) < self.max_heading_diff*np.pi/180)
+            ]
 
         if len(val_idx)==0:
             i = None

src/eval_main.py

@@ -41,33 +41,33 @@ def load_policy(method:str,
     if method == 'idm':
         policy = IDMRulePolicy(env, **policy_kwargs)
     elif method == 'bc':
-        policy = SetPolicy(env.action_space.shape[-1], **policy_kwargs)
+        policy = SetPolicy(env.action_space.shape[-1])
         policy.load_state_dict(torch.load(policy_file, map_location=ml))
         policy.eval()
     elif method == 'gail-trpo':
-        policy = SetPolicy(env.action_space.shape[-1], **policy_kwargs)
+        policy = SetPolicy(env.action_space.shape[-1])
         policy(torch.zeros(env.observation_space.shape))
         policy = ReparamPolicy(policy)
         policy.load_state_dict(torch.load(policy_file, map_location=ml))
         policy.eval()
     elif method == 'gail':
-        policy = SetPolicy(env.action_space.shape[-1], **policy_kwargs)
+        policy = SetPolicy(env.action_space.shape[-1])
         policy.load_state_dict(torch.load(policy_file, map_location=ml))
         policy.eval()
     elif method == 'rail':
         raise NotImplementedError
     elif method == 'hail-trpo':
-        policy = SetMaskedDiscretePolicy(env.action_space.n, **policy_kwargs)
+        policy = SetDiscretePolicy(env.action_space.n)
         policy(torch.zeros(env.observation_space.shape))
         policy = ReparamPolicy(policy)
         policy.load_state_dict(torch.load(policy_file, map_location=ml))
         policy.eval()
     elif method == 'hail':
-        policy = SetMaskedDiscretePolicy(env.action_space.n, **policy_kwargs)
+        policy = SetDiscretePolicy(env.action_space.n)
         policy.load_state_dict(torch.load(policy_file, map_location=ml))
         policy.eval()
     elif method == 'shail-trpo':
-        policy = SetMaskedDiscretePolicy(env.action_space.n, **policy_kwargs)
+        policy = SetMaskedDiscretePolicy(env.action_space.n)
         policy(
             torch.zeros(env.observation_space['observation'].shape),
             torch.zeros(env.observation_space['safe_actions'].shape)
@@ -76,7 +76,7 @@ def load_policy(method:str,
         policy.load_state_dict(torch.load(policy_file, map_location=ml))
         policy.eval()
     elif method == 'shail':
-        policy = SetMaskedDiscretePolicy(env.action_space.n, **policy_kwargs)
+        policy = SetMaskedDiscretePolicy(env.action_space.n)
         policy.load_state_dict(torch.load(policy_file, map_location=ml))
         policy.eval()
     else:

test_policies/bc/expA/config.json

@@ -1,15 +0,0 @@
-{
-    "experiment": "A",
-    "trainenv": {
-        "stop_on_collision": false
-    },
-    "policy": {
-        "learning_rate": 0.0003,
-        "learning_rate_decay": 1.0,
-        "hidden_layer_size": 40,
-        "n_hidden_layers": 2,
-        "activation": 0
-    },
-    "train_epochs": 300,
-    "seed": 0
-}

test_policies/bc/expB/config.json

@@ -1,15 +0,0 @@
-{
-    "experiment": "B",
-    "trainenv": {
-        "stop_on_collision": false
-    },
-    "policy": {
-        "learning_rate": 0.0003,
-        "learning_rate_decay": 1.0,
-        "hidden_layer_size": 40,
-        "n_hidden_layers": 2,
-        "activation": 0
-    },
-    "train_epochs": 300,
-    "seed": 0
-}

test_policies/gail/expA/config.json

@@ -1,31 +0,0 @@
-{
-    "experiment": "A",
-    "trainenv": {
-        "stop_on_collision": false
-    },
-    "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
-    },
-    "value": {
-        "learning_rate": 0.0001,
-        "weight_decay": 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": 100,
-    "seed": 0
-}

test_policies/gail/expB/config.json

@@ -1,31 +0,0 @@
-{
-    "experiment": "B",
-    "trainenv": {
-        "stop_on_collision": false
-    },
-    "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
-    },
-    "value": {
-        "learning_rate": 0.0001,
-        "weight_decay": 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": 100,
-    "seed": 0
-}

test_policies/hail-etienne/expA/config.json

@@ -1,33 +0,0 @@
-{
-    "experiment": "A",
-    "trainenv": {
-        "stop_on_collision": false,
-        "safe_actions_collision_method": null,
-        "abort_unsafe_collision_method": null
-    },
-    "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
-}

test_policies/hail-etienne/expB/config.json

@@ -1,33 +0,0 @@
-{
-    "experiment": "B",
-    "trainenv": {
-        "stop_on_collision": false,
-        "safe_actions_collision_method": null,
-        "abort_unsafe_collision_method": null
-    },
-    "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
-}

test_policies/hail/expA/config.json

@@ -1,33 +0,0 @@
-{
-    "experiment": "A",
-    "trainenv": {
-        "stop_on_collision": false,
-        "safe_actions_collision_method": null,
-        "abort_unsafe_collision_method": null
-    },
-    "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
-}

test_policies/hail/expB/config.json

@@ -1,33 +0,0 @@
-{
-    "experiment": "B",
-    "trainenv": {
-        "stop_on_collision": false,
-        "safe_actions_collision_method": null,
-        "abort_unsafe_collision_method": null
-    },
-    "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
-}

test_policies/shail-etienne/expA/config.json

@@ -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
-}

test_policies/shail-etienne/expB/config.json

@@ -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
-}

test_policies/shail/expA/config.json

@@ -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
-}

test_policies/shail/expB/config.json

@@ -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
-}