Update #406 new json parsing commit #469
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* Update settings * Add warning to catch unnormalized features * Clean done logic. * Restructure expert suggestions under _guidance_ * Update settings * Add warning to catch unnormalized features * Clean done logic. * Restructure expert suggestions under _guidance_ * Update WOSAC eval readme * Provide agents with full speed guidance trajs * Add support for headings * Add vel_xy * Improve code efficiency * Small shape bug fix * Improve wosac eval setting * Update best 1-scene policy * Refactor gym env with unified guidance mode. * Update visualizer with unified plotting of reference traj * Minor * Transform reference headings to local coordinate frame. * Give value network a bit more capacity * Give value network a bit more capacity * Add dataframe code * Minor * Add optional video logging to wosac script * Update init mode * Visualizer bug fix * Minor * wosac eval updates and new cpts
* detect parked script * default arg change * parked vehicle mask * train and eval init modes * Minor fixes --------- Co-authored-by: kevin <kevinwinston184@gmail.com>
* Improve agent pov plotting utils * Delete old unused function * Fix * Add lidar obs option to plot agent observation * wip * Revert defaults
* Delete obsolete vbd functions * Format * Remove all instances of use_vbd and alike -> unified guidance mode * Create dataclass struct for VBD online predictionsions * Delete world_time_steps as it is no longer used * Leaving a todo * Make sure to demean the VBD predicted trajectories * Data analysis and minor changes * Guidance data analysis notebook * Script to process guidance data * Fixes * Fixes * Update nb * Fixes and make sure to always wrap the yaws. * Fixes and make sure to always wrap the yaws. * Example data to work with
…Emerge-Lab#427) * Intended usage for z-axis * Access average z pos (elevation) from logs * Fix intended usage of avg_z * fixes * z pos fixes * Fix bug by converting all vals in tensor to floats * remove print statement * Cleanup --------- Co-authored-by: kevin <kevinwinston184@gmail.com>
* Small improvements * Minor training improvements * Rebase over dev * Bookkeeping * Bookkeeping * Small fixes for gpu * wip: config * Make adding the action optional * wip * Analysis notebooks * WIP: new reward mode * Frequency * Make sure to normalize rewards and other changes * Minor * Update model * Add bonus at end of episode mechanism * Fixes * Improve renderer * Rmv one-hot encoding * Fix render * Adding back the whole shazam * Naming stuff * Add data folder as cmdline arg * Add data folder as cmdline arg * Minor bug fixes * Cleanup and better error message * Align reward components scale
* model looks kinda okay? * think we added the steer angle correctly to the env * Small bug fix --------- Co-authored-by: Daphne Cornelisse <cor.daphne@gmail.com>
* add support for model switching * remove memory pinning * revert changed values
…ge-Lab#435) * Bug fix: Ensure there is always a warmup period of at least 10 steps when using vbd_online * online guidance fixes * minor fix * changes to get 91 steps * Keep episodeLen at 90, and don't use it toread in the logs * Add back warnings / idiot proofing * tiny fix * fix online guidance * Set max agents to 32 --------- Co-authored-by: kevin <kevinwinston184@gmail.com>
* Small improvements * Minor training improvements * Rebase over dev * Bookkeeping * Bookkeeping * Small fixes for gpu * wip: config * Make adding the action optional * wip * Analysis notebooks * WIP: new reward mode * Frequency * Make sure to normalize rewards and other changes * Minor * Update model * Add bonus at end of episode mechanism * Fixes * Improve renderer * Rmv one-hot encoding * Fix render * Adding back the whole shazam * Naming stuff * Add data folder as cmdline arg * Add data folder as cmdline arg * Minor bug fixes * Cleanup and better error message * Align reward components scale * Push models * Viz improvements * Data analysis * Add guidance dropout mask * Add dropout as option for training * Add dropout as option for training * Bug fix: only count valid points * Increase network size to 200K params * Bug fix * Larger net * Set controlled agent default to 32 * Minor improvements * WIP * Make agents their original size * Minor * Remove collision state from ego * Plotting stuff * wip * More plotting stuff * Minor * Fixes * Reward improvements * Reward improvements * Give agent a bit more road graph information * Visualizer bug fix: clean up axis before generating new plot * Formatting * Change dropout mechanism such that dguidance_dropout_prob represents the maximum dropout probability [cover wide range]. * Add mechanism to discourage agents from turning around for bonus * Fix sbatch generation script * Add speed penalty if end of traj is reached * wip * Some eval fixes * Eval wip * Fix action space bug * Fix defaults * VBD amortize shape bug fix * rmv speed penalty * Settings * Fig * huh? * Replace end of route bonus with small jerk penalty * Many improvements * Exclude data * Delete checkpoints * Minor
* Fix: ensure vbd_online can be used on cuda and cpu. * Small updates * WOSAC defaults * Dynamics model fix * Minor
* dataset script * wosac dataset script * parallelized wosac script * pkl support * vbd cuda ---------
* Fix: ensure vbd_online can be used on cuda and cpu. * Small updates * WOSAC defaults * Dynamics model fix * Minor * Update sbatch * Code to make latex wosac tables * pkl file * Add smoothness * Add new dropout mode * WOSAC eval improvements * Add figures * Increment progress based on visible route points only. * Files * Some small updates
* Fix: ensure vbd_online can be used on cuda and cpu. * Small updates * WOSAC defaults * Dynamics model fix * Minor * Update sbatch * Code to make latex wosac tables * pkl file * Add smoothness * Add new dropout mode * WOSAC eval improvements * Add figures * Increment progress based on visible route points only. * Files * Some small updates * Minor * WOSAC eval
* Testing agent type in obs * Implement type-aware action space * Remove padding agent * Cleanup * Comment out cone view line for now * Update angle ranges
* fix empty geometry handling and out of bounds indices * add safer access and overflow prevention * allow flexible no of elements
Add occlusion to observation
…nfig Fix: pass config parameters into EnvConfig object in PufferEnv
* Add tl_states to extraction script. * WIP * Add back metadata * Add tl_states struct and access through simulator. * Add time index * Cleanup * Cleanup * SMall fix * Add tl state data struct * Add minimum test script * Add minimum test script * [Work In progress] Fixed initialization and made TL a singleton tensor * Fix json init and export * mean centering * Test and omit unnesecessary code in tl obs * Changed data access format in python code * Added a more interpretable positional element arrays * Unpack tl_states correctly * Add tl state plotting function in visualizer * mini bug * Fix traffic lights by exporting everything as float32 * Improve colors * Remove test file --------- Co-authored-by: Aarav Pandya <ap7641@nyu.edu> Co-authored-by: Eugene Vinitsky <eugenevinitsky@users.noreply.github.com> Co-authored-by: Pragnay Mandavilli <pm3881@ga034.hpc.nyu.edu> Co-authored-by: Pragnay Mandavilli <pm3881@ga014.hpc.nyu.edu>
Contributor
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Thank you @EllingtonKirby ! I am excited about the training speeds ups enabled by this To confirm: is this a replacement for the PR you link? |
Collaborator
Author
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It is not a replacement, it will merge into @aaravpandya 's PR #406 . This PR just fixes the merge conflicts and adds support for the Traffic Light states and a few other small changes, to his larger work |
Contributor
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LGTM |
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Linked to #406
Incorporates the missing changes, then adds a commit at the end to handle the new TL states.
NOTE: To make the merge conflict easier to handle, I skipped all changes to
json_serialization.hppsince April 23ish, then re-implemented them in the new format.Double Note: This code will not run with a continuous action space as that function is missing in the torch env