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e7f4f6a871
wrapping all environments in timelimit to stop runs longer than 100s, since some others were erroring
2022-02-21 17:54:29 -08:00
e7f8385628
updating rwse to work at different times, updating correct testing environment from roundabout, removing the assertion that a collision implies done in the evaluator, using nanmean and nanstd in averaging
2022-02-21 15:55:16 -08:00
daa4825f17
Add GAIL-PPO
2022-02-21 22:21:13 +01:00
a89317e1d5
Correct checkpoint file path
2022-02-21 22:11:34 +01:00
b89f5db9d8
Add SHAIL policy with more options
2022-02-21 22:07:44 +01:00
953a93a541
Add two checkpoints for SHAIL-PPO
2022-02-21 17:33:08 +01:00
a242edc5d3
Fix predict for reparameterized modules
2022-02-21 13:28:25 +01:00
2da0e05782
Implement rwse
2022-02-21 10:40:52 +01:00
8c4ff03208
adding average absolute delta v, and tracking positions and setting up architecture to implement rwse
2022-02-21 00:06:39 -08:00
d2932951f6
adding metric saving and averaging over seeds
2022-02-20 23:22:46 -08:00
a7102a29df
Merge pull request #4 from sisl/options
2022-02-20 20:20:28 -08:00
ce22516893
Fix imports
2022-02-18 10:18:10 +01:00
84351e77f2
Add SHAIL-PPO
2022-02-18 06:54:52 +01:00
1624e1a349
Add SHAIL
2022-02-17 23:49:06 +01:00
9de6bfe9a3
Add GAIL
2022-02-17 22:58:00 +01:00
cd58ce2898
Remove old code
2022-02-17 22:43:41 +01:00
5bd8b42d9f
Merge updated files
2022-02-17 22:41:55 +01:00
b78f95bab5
More checkpoints, adjustments for collision check
2022-02-16 10:19:50 +01:00
c5e68ca33a
Add model checkpoint
2022-02-15 22:01:28 +01:00
c6a4c10605
Integrate options env and policy
2022-02-15 18:36:53 +01:00
072c0ff417
Copy files
2022-02-15 14:03:22 +01:00
a3b9b3e250
Port TRPO, PPO, GAIL
2022-02-15 11:01:52 +01:00
530ac95d61
Merge branch 'test' into main
2022-02-05 21:50:16 -08:00
3e6fce42ee
BUG FIXES: moving around when policy is loaded, adding BaseAlgorithm abstract classes, correcting metrics, normalizng actions if idm environment is a normalized action one, manually updating environment graph when using idm, implementing idm forward class
2022-02-05 21:48:56 -08:00
795e1c08b6
adding metric comparisons and updating (note: pre-debug) init
2022-02-04 15:51:17 -08:00
d1f9e3d7c4
adding main test sequence. must debug and add summary and comparison metric generators tomorrow
2022-02-02 22:29:05 -08:00
31912416f1
adding pbar to evaluator and making metric save optional, adding typing to baselines
2022-02-02 22:19:40 -08:00
3ce86b31f7
adding Prop controller and IDMRulePolicy
2022-02-02 15:43:23 -08:00
3991306da0
updating evaluation wrapper to only store relevant variables during execution
2022-01-31 16:28:13 -08:00
a60cc18874
PPO lidar + random agent
2022-01-22 08:05:16 +01:00
18af0de2a4
Add experiment for PPO on lidar observations
2022-01-21 18:35:46 +01:00
e1f2d58255
Smaller conv nets
2022-01-21 10:23:59 +01:00
52d4b5a36c
Refactor LL buffer
2022-01-21 10:20:08 +01:00
3b60c14319
removing old implementation for rollout_and_save, and helper functions that were necessary for it
2022-01-18 18:03:38 -08:00
427a9e4f1b
adding rollout and trajectory flattening utilities. including old implementation in this commit
2022-01-18 17:53:56 -08:00
2c1dc6ca33
committing changes to start testing framework, removing shuffling of data
2022-01-17 15:47:40 -08:00
d34fa5774d
adding functions to save joint expert states and actions for repeated use in metrics, adding option to flatten loaded trajectories, adding class to not shuffle trajectories when saving experts to make sure it lines up with the joint states. checked that it does
2021-11-29 14:09:57 -08:00
284d4af637
Train discriminator
2021-11-10 11:54:41 +01:00
6c3a7b903e
adding test structure
2021-11-09 09:48:45 -08:00
a07050a748
fixing rendering system and main script to align with new repo changes
2021-11-09 07:15:07 -08:00
5799d095d9
adding tools to render directly from a policy, updating data generator, adding scratch files
2021-11-09 06:28:42 -08:00
4c8fb77a91
Larger batches
2021-11-06 18:49:00 +01:00
bc774c54ca
Refactor LL buffer
2021-11-06 16:43:45 +01:00
b634a34461
RMSprop + weight decay, no discount, action noise
2021-11-05 15:33:52 +01:00
4a69322ed0
Move eps to constructor
2021-11-05 10:32:07 +01:00
4ee960b104
Fix rendering
2021-11-05 08:35:14 +01:00
071c731921
More expert data
2021-11-04 19:54:40 +01:00
081fb4e6ab
Sample with replacement
2021-11-04 19:54:14 +01:00
f794a96112
Sample expert data from same distribution
2021-11-04 18:52:08 +01:00
9a95134530
Remove rasterized speed
2021-11-04 17:21:10 +01:00
0990eb808a
Larger batches
2021-11-04 11:01:06 +01:00
361c1ea9d3
Add speed, then accumulate, skip 5 frames
2021-11-03 17:49:59 +01:00
2718f52941
Improve custom env support
2021-11-03 17:48:27 +01:00
ba850eadbb
Move rasterized speed env to scratch
2021-11-03 08:48:19 +01:00
06fb1afae4
Random skip, longer horizon
2021-11-02 16:48:31 +01:00
2aaaad36f0
Fix rendering
2021-11-02 16:15:34 +01:00
6416fceb60
Fix horizon
2021-11-02 10:34:57 +01:00
a1ae103ab4
Merge branch 'options-env' into dev
2021-11-02 09:39:51 +01:00
66c10f5280
Make options env compatible with PPO
2021-10-29 16:36:12 +02:00
e37447caff
Increase discriminator batch size and update steps
2021-10-29 16:33:06 +02:00
2e8c7f1ace
Use rasterized speed
2021-10-29 15:58:34 +02:00
fc2cd936a8
Copy options to scratch
2021-10-29 14:40:11 +02:00
8dd42abbf3
use discriminator preprocessing
2021-10-29 14:08:32 +02:00
92981ba284
Change batch size and discriminator updates
2021-10-29 11:54:32 +02:00
fb7e841dc3
Merge branch 'main' of github.com:sisl/InteractionImitation
2021-10-29 11:35:08 +02:00
4317cee272
Check emergency braking in available actions
2021-10-29 11:31:38 +02:00
cedb95dd57
Vectorize action propagation
2021-10-29 11:17:16 +02:00
e57da1338a
Check emergency braking in available actions
2021-10-29 11:07:44 +02:00
999cb80e13
Merge branch 'vectorize-propagation2'
2021-10-29 11:07:14 +02:00
5bdf85562b
Merge branch 'main' into dev
2021-10-28 18:01:02 +02:00
673b565e11
Update scratch
2021-10-28 18:31:52 +02:00
1a1f6d8836
Merge branch 'main' of github.com:sisl/InteractionImitation
2021-10-28 18:17:47 +02:00
e36aaef9f2
Move and add scratch scripts
2021-10-28 18:16:17 +02:00
0077c24074
precompute expert features
2021-10-28 18:16:00 +02:00
b1740764e3
Parameterize number of discriminator updates per epoch
2021-10-28 17:58:34 +02:00
8d7409c914
Check emergency braking in available actions
2021-10-28 17:54:58 +02:00
f9e058a7d9
Vectorize available actions computation
2021-10-28 12:35:32 +02:00
070b8fc785
Cleanup
2021-10-28 13:49:14 +02:00
c5b043c49f
Cleanup
2021-10-28 13:47:54 +02:00
8703b11dee
import evaluation
2021-10-28 13:31:30 +02:00
1bab1aaab7
Cleanup evaluation
2021-10-28 13:31:08 +02:00
7ffcc0b4b8
Extract evaluation code to separate file
2021-10-28 13:29:00 +02:00
2218d14409
Move metrics
2021-10-28 13:26:17 +02:00
f217daf251
update evaluation
2021-10-28 13:10:44 +02:00
09afee4e1d
Add first metrics
2021-10-28 09:55:20 +02:00
214c6daeaa
Merge branch 'main' of github.com:sisl/InteractionImitation
2021-10-28 09:45:27 +02:00
d89c77409c
Add some scratch
2021-10-28 09:43:55 +02:00
3857716cec
Rename predict to forward
2021-10-28 09:42:27 +02:00
71f69c43ed
Fix typo in dataset folder name
2021-10-28 09:40:52 +02:00
351b22fe01
Optionally include infos in expert data
2021-10-28 09:40:20 +02:00
039f8a7643
Adapt expert for RandomLocations environment
2021-10-27 13:56:20 +02:00
97b98cb52e
Add experiment for random locations
2021-10-27 13:55:40 +02:00
bcddf422f0
Move files to src
2021-10-26 17:41:05 +02:00
24b91d4eec
Add route, increase resolution
2021-10-26 13:18:09 +02:00
9a1038d832
Add experiment for options gail on random agents
2021-10-26 13:13:20 +02:00
82407d5222
Refactor options GAIL training script
2021-10-26 12:37:10 +02:00
1f506baa48
Rename combined tracks experiment
2021-10-26 09:41:37 +02:00
8ce4c0c951
Merge branch 'main' of github.com:sisl/InteractionImitation
2021-10-22 09:36:57 +02:00
03478b7ed9
adding comments to gail_options_image, combining environments for options gail, and fixing bug where last state is yielded in hl buffer
2021-10-20 12:28:12 -07:00
ba79de58b8
moving feasibility checkers into src.util.collisions, and doing expert processing using the tools in src.data.expert
2021-10-21 07:01:12 -07:00
Arec