def main(args):
set_random_seeds(args.randomseed)
# configure paths
make_new_dir = True
if os.path.exists(args.output_dir):
if args.overwrite:
shutil.rmtree(args.output_dir)
else:
key = input(
'Output directory already exists! Overwrite the folder? (y/n)')
if key == 'y' and not args.resume:
shutil.rmtree(args.output_dir)
else:
make_new_dir = False
if make_new_dir:
os.makedirs(args.output_dir)
shutil.copy(args.config, os.path.join(args.output_dir, 'config.py'))
# # insert the arguments from command line to the config file
# with open(os.path.join(args.output_dir, 'config.py'), 'r') as fo:
# config_text = fo.read()
# search_pairs = {r"gcn.X_dim = \d*": "gcn.X_dim = {}".format(args.X_dim),
# r"gcn.num_layer = \d": "gcn.num_layer = {}".format(args.layers),
# r"gcn.similarity_function = '\w*'": "gcn.similarity_function = '{}'".format(args.sim_func),
# r"gcn.layerwise_graph = \w*": "gcn.layerwise_graph = {}".format(args.layerwise_graph),
# r"gcn.skip_connection = \w*": "gcn.skip_connection = {}".format(args.skip_connection)}
#
# for find, replace in search_pairs.items():
# config_text = re.sub(find, replace, config_text)
#
# with open(os.path.join(args.output_dir, 'config.py'), 'w') as fo:
# fo.write(config_text)
args.config = os.path.join(args.output_dir, 'config.py')
log_file = os.path.join(args.output_dir, 'output.log')
il_weight_file = os.path.join(args.output_dir, 'il_model.pth')
rl_weight_file = os.path.join(args.output_dir, 'rl_model.pth')
spec = importlib.util.spec_from_file_location('config', args.config)
if spec is None:
parser.error('Config file not found.')
config = importlib.util.module_from_spec(spec)
spec.loader.exec_module(config)
# configure logging
mode = 'a' if args.resume else 'w'
file_handler = logging.FileHandler(log_file, mode=mode)
stdout_handler = logging.StreamHandler(sys.stdout)
level = logging.INFO if not args.debug else logging.DEBUG
logging.basicConfig(level=level,
handlers=[stdout_handler, file_handler],
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
repo = git.Repo(search_parent_directories=True)
logging.info('Current git head hash code: {}'.format(
repo.head.object.hexsha))
logging.info('Current config content is :{}'.format(config))
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: %s', device)
writer = SummaryWriter(log_dir=args.output_dir)
# configure policy
policy_config = config.PolicyConfig()
policy = policy_factory[policy_config.name]()
if not policy.trainable:
parser.error('Policy has to be trainable')
policy.configure(policy_config)
policy.set_device(device)
# configure environment
env_config = config.EnvConfig(args.debug)
env = gym.make('CrowdSim-v0')
env.configure(env_config)
robot = Robot(env_config, 'robot')
robot.time_step = env.time_step
env.set_robot(robot)
# read training parameters
train_config = config.TrainConfig(args.debug)
rl_learning_rate = train_config.train.rl_learning_rate
train_batches = train_config.train.train_batches
train_episodes = train_config.train.train_episodes
sample_episodes = train_config.train.sample_episodes
target_update_interval = train_config.train.target_update_interval
evaluation_interval = train_config.train.evaluation_interval
capacity = train_config.train.capacity
epsilon_start = train_config.train.epsilon_start
epsilon_end = train_config.train.epsilon_end
epsilon_decay = train_config.train.epsilon_decay
checkpoint_interval = train_config.train.checkpoint_interval
# configure trainer and explorer
memory = ReplayMemory(capacity)
model = policy.get_model()
batch_size = train_config.trainer.batch_size
optimizer = train_config.trainer.optimizer
if policy_config.name == 'model_predictive_rl':
trainer = MPRLTrainer(
model,
policy.state_predictor,
memory,
device,
policy,
writer,
batch_size,
optimizer,
env.human_num,
reduce_sp_update_frequency=train_config.train.
reduce_sp_update_frequency,
freeze_state_predictor=train_config.train.freeze_state_predictor,
detach_state_predictor=train_config.train.detach_state_predictor,
share_graph_model=policy_config.model_predictive_rl.
share_graph_model)
else:
trainer = VNRLTrainer(model, memory, device, policy, batch_size,
optimizer, writer)
explorer = Explorer(env,
robot,
device,
writer,
memory,
policy.gamma,
target_policy=policy)
# imitation learning
if args.resume:
if not os.path.exists(rl_weight_file):
logging.error('RL weights does not exist')
model.load_state_dict(torch.load(rl_weight_file))
rl_weight_file = os.path.join(args.output_dir, 'resumed_rl_model.pth')
logging.info(
'Load reinforcement learning trained weights. Resume training')
elif os.path.exists(il_weight_file):
model.load_state_dict(torch.load(il_weight_file))
logging.info('Load imitation learning trained weights.')
else:
il_episodes = train_config.imitation_learning.il_episodes
il_policy = train_config.imitation_learning.il_policy
il_epochs = train_config.imitation_learning.il_epochs
il_learning_rate = train_config.imitation_learning.il_learning_rate
trainer.set_learning_rate(il_learning_rate)
if robot.visible:
safety_space = 0
else:
safety_space = train_config.imitation_learning.safety_space
il_policy = policy_factory[il_policy]()
il_policy.multiagent_training = policy.multiagent_training
il_policy.safety_space = safety_space
robot.set_policy(il_policy)
explorer.run_k_episodes(il_episodes,
'train',
update_memory=True,
imitation_learning=True)
trainer.optimize_epoch(il_epochs)
policy.save_model(il_weight_file)
logging.info('Finish imitation learning. Weights saved.')
logging.info('Experience set size: %d/%d', len(memory),
memory.capacity)
trainer.update_target_model(model)
# reinforcement learning
policy.set_env(env)
robot.set_policy(policy)
robot.print_info()
trainer.set_learning_rate(rl_learning_rate)
# fill the memory pool with some RL experience
if args.resume:
robot.policy.set_epsilon(epsilon_end)
explorer.run_k_episodes(100, 'train', update_memory=True, episode=0)
logging.info('Experience set size: %d/%d', len(memory),
memory.capacity)
episode = 0
best_val_reward = -1
best_val_model = None
# evaluate the model after imitation learning
if episode % evaluation_interval == 0:
logging.info(
'Evaluate the model instantly after imitation learning on the validation cases'
)
explorer.run_k_episodes(env.case_size['val'], 'val', episode=episode)
explorer.log('val', episode // evaluation_interval)
if args.test_after_every_eval:
explorer.run_k_episodes(env.case_size['test'],
'test',
episode=episode,
print_failure=True)
explorer.log('test', episode // evaluation_interval)
episode = 0
while episode < train_episodes:
if args.resume:
epsilon = epsilon_end
else:
if episode < epsilon_decay:
epsilon = epsilon_start + (
epsilon_end - epsilon_start) / epsilon_decay * episode
else:
epsilon = epsilon_end
robot.policy.set_epsilon(epsilon)
# sample k episodes into memory and optimize over the generated memory
explorer.run_k_episodes(sample_episodes,
'train',
update_memory=True,
episode=episode)
explorer.log('train', episode)
trainer.optimize_batch(train_batches, episode)
episode += 1
if episode % target_update_interval == 0:
trainer.update_target_model(model)
# evaluate the model
if episode % evaluation_interval == 0:
_, _, _, reward, _ = explorer.run_k_episodes(env.case_size['val'],
'val',
episode=episode)
explorer.log('val', episode // evaluation_interval)
if episode % checkpoint_interval == 0 and reward > best_val_reward:
best_val_reward = reward
best_val_model = copy.deepcopy(policy.get_state_dict())
# test after every evaluation to check how the generalization performance evolves
if args.test_after_every_eval:
explorer.run_k_episodes(env.case_size['test'],
'test',
episode=episode,
print_failure=True)
explorer.log('test', episode // evaluation_interval)
if episode != 0 and episode % checkpoint_interval == 0:
current_checkpoint = episode // checkpoint_interval - 1
save_every_checkpoint_rl_weight_file = rl_weight_file.split(
'.')[0] + '_' + str(current_checkpoint) + '.pth'
policy.save_model(save_every_checkpoint_rl_weight_file)
# # test with the best val model
if best_val_model is not None:
policy.load_state_dict(best_val_model)
torch.save(best_val_model, os.path.join(args.output_dir,
'best_val.pth'))
logging.info('Save the best val model with the reward: {}'.format(
best_val_reward))
explorer.run_k_episodes(env.case_size['test'],
'test',
episode=episode,
print_failure=True)
def main(args):
# configure logging and device
level = logging.DEBUG if args.debug else logging.INFO
logging.basicConfig(level=level, format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device("cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: %s', device)
if args.model_dir is not None:
if args.config is not None:
config_file = args.config
else:
config_file = os.path.join(args.model_dir, 'config.py')
if args.il:
model_weights = os.path.join(args.model_dir, 'il_model.pth')
logging.info('Loaded IL weights')
elif args.rl:
if os.path.exists(os.path.join(args.model_dir, 'resumed_rl_model.pth')):
model_weights = os.path.join(args.model_dir, 'resumed_rl_model.pth')
else:
print(os.listdir(args.model_dir))
model_weights = os.path.join(args.model_dir, sorted(os.listdir(args.model_dir))[-1])
logging.info('Loaded RL weights')
else:
model_weights = os.path.join(args.model_dir, 'best_val.pth')
logging.info('Loaded RL weights with best VAL')
else:
config_file = args.config
spec = importlib.util.spec_from_file_location('config', config_file)
if spec is None:
parser.error('Config file not found.')
config = importlib.util.module_from_spec(spec)
spec.loader.exec_module(config)
# configure policy
policy_config = config.PolicyConfig(args.debug)
policy = policy_factory[policy_config.name]()
if args.planning_depth is not None:
policy_config.model_predictive_rl.do_action_clip = True
policy_config.model_predictive_rl.planning_depth = args.planning_depth
if args.planning_width is not None:
policy_config.model_predictive_rl.do_action_clip = True
policy_config.model_predictive_rl.planning_width = args.planning_width
if args.sparse_search:
policy_config.model_predictive_rl.sparse_search = True
policy.configure(policy_config)
if policy.trainable:
if args.model_dir is None:
parser.error('Trainable policy must be specified with a model weights directory')
policy.load_model(model_weights)
# configure environment
env_config = config.EnvConfig(args.debug)
if args.human_num is not None:
env_config.sim.human_num = args.human_num
env = gym.make('CrowdSim-v0')
env.configure(env_config)
if args.square:
env.test_scenario = 'square_crossing'
if args.circle:
env.test_scenario = 'circle_crossing'
if args.test_scenario is not None:
env.test_scenario = args.test_scenario
robot = Robot(env_config, 'robot')
env.set_robot(robot)
robot.time_step = env.time_step
robot.set_policy(policy)
explorer = Explorer(env, robot, device, None, gamma=0.9)
train_config = config.TrainConfig(args.debug)
epsilon_end = train_config.train.epsilon_end
if not isinstance(robot.policy, ORCA):
robot.policy.set_epsilon(epsilon_end)
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
robot.policy.safety_space = args.safety_space
else:
robot.policy.safety_space = args.safety_space
logging.info('ORCA agent buffer: %f', robot.policy.safety_space)
policy.set_env(env)
robot.print_info()
if args.visualize:
rewards = []
ob = env.reset(args.phase, args.test_case)
done = False
last_pos = np.array(robot.get_position())
while not done:
action = robot.act(ob)
ob, _, done, info = env.step(action)
rewards.append(_)
current_pos = np.array(robot.get_position())
logging.debug('Speed: %.2f', np.linalg.norm(current_pos - last_pos) / robot.time_step)
last_pos = current_pos
gamma = 0.9
cumulative_reward = sum([pow(gamma, t * robot.time_step * robot.v_pref)
* reward for t, reward in enumerate(rewards)])
if args.traj:
env.render('traj', args.video_file)
else:
if args.video_dir is not None:
if policy_config.name == 'gcn':
args.video_file = os.path.join(args.video_dir, policy_config.name + '_' + policy_config.gcn.similarity_function)
else:
args.video_file = os.path.join(args.video_dir, policy_config.name)
args.video_file = args.video_file + '_' + args.phase + '_' + str(args.test_case) + '.mp4'
env.render('video', args.video_file)
logging.info('It takes %.2f seconds to finish. Final status is %s, cumulative_reward is %f', env.global_time, info, cumulative_reward)
if robot.visible and info == 'reach goal':
human_times = env.get_human_times()
logging.info('Average time for humans to reach goal: %.2f', sum(human_times) / len(human_times))
else:
explorer.run_k_episodes(env.case_size[args.phase], args.phase, print_failure=True)
if args.plot_test_scenarios_hist:
test_angle_seeds = np.array(env.test_scene_seeds)
b = [i * 0.01 for i in range(101)]
n, bins, patches = plt.hist(test_angle_seeds, b, facecolor='g')
plt.savefig(os.path.join(args.model_dir, 'test_scene_hist.png'))
plt.close()
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config', type=str, default='configs/env.config')
parser.add_argument('--policy_config',
type=str,
default='configs/policy.config')
parser.add_argument('--policy', type=str, default='orca')
parser.add_argument('--model_dir', type=str, default=None)
parser.add_argument('--il', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--visualize', default=True, action='store_true')
parser.add_argument('--phase', type=str, default='test')
parser.add_argument('--test_case', type=int, default=0)
parser.add_argument('--square', default=False, action='store_true')
parser.add_argument('--circle', default=False, action='store_true')
parser.add_argument('--video_file', type=str, default=None)
parser.add_argument('--traj', default=False, action='store_true')
parser.add_argument('--plot', default=False, action='store_true')
args = parser.parse_args()
if args.model_dir is not None:
env_config_file = os.path.join(args.model_dir,
os.path.basename(args.env_config))
policy_config_file = os.path.join(args.model_dir,
os.path.basename(args.policy_config))
if args.il:
model_weights = os.path.join(args.model_dir, 'il_model.pth')
else:
if os.path.exists(
os.path.join(args.model_dir, 'resumed_rl_model.pth')):
model_weights = os.path.join(args.model_dir,
'resumed_rl_model.pth')
else:
model_weights = os.path.join(args.model_dir, 'rl_model.pth')
else:
env_config_file = args.env_config
policy_config_file = args.env_config
# configure logging and device
logging.basicConfig(level=logging.INFO,
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: %s', device)
# configure policy
policy = policy_factory[args.policy]()
policy_config = configparser.RawConfigParser()
policy_config.read(policy_config_file)
policy.configure(policy_config)
if policy.trainable:
if args.model_dir is None:
parser.error(
'Trainable policy must be specified with a model weights directory'
)
policy.get_model().load_state_dict(
torch.load(model_weights, map_location=torch.device('cpu')))
# configure environment
env_config = configparser.RawConfigParser()
env_config.read(env_config_file)
env = gym.make('CrowdSim-v0')
env.configure(env_config)
if args.square:
env.test_sim = 'square_crossing'
if args.circle:
env.test_sim = 'circle_crossing'
robot = Robot(env_config, 'robot')
robot.set_policy(policy)
env.set_robot(robot)
explorer = Explorer(env, robot, device, gamma=0.9)
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
robot.policy.safety_space = 0
else:
# because invisible case breaks the reciprocal assumption
# adding some safety space improves ORCA performance. Tune this value based on your need.
robot.policy.safety_space = 0
logging.info('ORCA agent buffer: %f', robot.policy.safety_space)
policy.set_env(env)
robot.print_info()
if args.visualize:
obs = env.reset(args.phase, args.test_case)
done = False
last_pos = np.array(robot.get_position())
policy_time = 0.0
numFrame = 0
dist = 20.0
obs_flg = 0
sim_time = False
while sim_time == False:
samples, robot_state, sim_time = pc2obs.pc2obs(
voxel_size=voxel_size)
t1 = float(sim_time)
while (dist > 0.8):
#t1 = time.time()
env.humans = []
samples, robot_state, sim_time = pc2obs.pc2obs(
voxel_size=voxel_size)
if type(samples) == type(False):
print("Not Connect")
continue
dist = math.sqrt((GOAL_X - robot_state[0])**2 +
(GOAL_Y - robot_state[1])**2)
if obs_flg == 0 and dist < 10:
os.system('sh ./init.sh')
obs_flg = 1
print("dist: {}".format(dist))
# rotate and shift obs position
t2 = time.time()
yaw = robot_state[2]
rot_matrix = np.array([[math.cos(yaw),
math.sin(yaw)],
[-math.sin(yaw),
math.cos(yaw)]])
#samples = np.array([sample + robot_state[0:2] for sample in samples[:,0:2]])
if len(samples) == 1:
samples = np.array(
[np.dot(rot_matrix, samples[0][0:2]) + robot_state[0:2]])
print(samples)
elif len(samples) > 1:
samples = np.array([
np.dot(rot_matrix, sample) + robot_state[0:2]
for sample in samples[:, 0:2]
])
obs_position_list = samples
obs = []
for ob in obs_position_list:
human = Human(env.config, 'humans')
# px, py, gx, gy, vx, vy, theta
human.set(ob[0], ob[1], ob[0], ob[1], 0, 0, 0)
env.humans.append(human)
# px, py, vx, vy, radius
obs.append(ObservableState(ob[0], ob[1], 0, 0, voxel_size / 2))
if len(obs_position_list) == 0:
human = Human(env.config, 'humans')
# SARL, CADRL
human.set(0, -10, 0, -10, 0, 0, 0)
# LSTM
#human.set(robot_state[0]+10, robot_state[1]+10, robot_state[0]+10, robot_state[1]+10 , 0, 0, 0)
env.humans.append(human)
# SARL, CADRL
obs.append(ObservableState(0, -10, 0, 0, voxel_size / 2))
# LSTM
#obs.append(ObservableState(robot_state[0]+10, robot_state[1]+10, 0, 0, voxel_size/2))
robot.set_position(robot_state)
robot.set_velocity([math.sin(yaw), math.cos(yaw)])
#print(obs)
action = robot.act(obs)
obs, _, done, info = env.step(action)
current_pos = np.array(robot.get_position())
current_vel = np.array(robot.get_velocity())
#print("Velocity: {}, {}".format(current_vel[0], current_vel[1]))
logging.debug(
'Speed: %.2f',
np.linalg.norm(current_pos - last_pos) / robot.time_step)
last_pos = current_pos
policy_time += time.time() - t1
numFrame += 1
#print(t2-t1, time.time() - t2)
diff_angle = (-yaw + math.atan2(current_vel[0], current_vel[1]))
if diff_angle > math.pi:
diff_angle = diff_angle - 2 * math.pi
elif diff_angle < -math.pi:
diff_angle = diff_angle + 2 * math.pi
#print("diff_angle: {}, {}, {}".format(diff_angle, yaw ,-math.atan2(current_vel[0], current_vel[1])))
if diff_angle < -0.7:
direc = 2 # turn left
elif diff_angle > 0.7:
direc = 3 # turn right
else:
direc = 1 # go straight
# GoEasy(direc)
vx = SPEED * math.sqrt(current_vel[0]**2 + current_vel[1]**2)
if diff_angle > 0:
v_ang = ANGULAR_SPEED * min(diff_angle / (math.pi / 2), 1)
else:
v_ang = ANGULAR_SPEED * max(diff_angle / (math.pi / 2), -1)
print(vx, -v_ang)
easyGo.mvCurve(vx, -v_ang)
if args.plot:
plt.scatter(current_pos[0], current_pos[1], label='robot')
plt.arrow(current_pos[0],
current_pos[1],
current_vel[0],
current_vel[1],
width=0.05,
fc='g',
ec='g')
plt.arrow(current_pos[0],
current_pos[1],
math.sin(yaw),
math.cos(yaw),
width=0.05,
fc='r',
ec='r')
if len(samples) == 1:
plt.scatter(samples[0][0],
samples[0][1],
label='obstacles')
elif len(samples) > 1:
plt.scatter(samples[:, 0],
samples[:, 1],
label='obstacles')
plt.xlim(-6.5, 6.5)
plt.ylim(-9, 4)
plt.legend()
plt.title("gazebo test")
plt.xlabel("x (m)")
plt.ylabel("y (m)")
plt.pause(0.001)
plt.cla()
plt.clf()
print("NAV TIME {}".format(float(sim_time) - t1))
time.sleep(0.5)
print("NAV TIME {}".format(float(sim_time) - t1))
easyGo.stop()
plt.close()
print("Average took {} sec per iteration, {} Frame".format(
policy_time / numFrame, numFrame))
else:
explorer.run_k_episodes(env.case_size[args.phase],
args.phase,
print_failure=True)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config',
type=str,
default='data/output/env.config')
parser.add_argument('--policy_config',
type=str,
default='data/output/policy.config')
parser.add_argument('--policy', type=str, default='scr')
parser.add_argument('--model_dir', type=str, default=None)
parser.add_argument('--il', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--visualize', default=False, action='store_true')
parser.add_argument('--phase', type=str, default='test')
parser.add_argument('--test_case', type=int, default=None)
parser.add_argument('--square', default=False, action='store_true')
parser.add_argument('--circle', default=False, action='store_true')
parser.add_argument('--video_file', type=str, default=None)
parser.add_argument('--plot_file', type=str, default=None)
args = parser.parse_args()
if args.model_dir is not None:
env_config_file = os.path.join(args.model_dir,
os.path.basename(args.env_config))
policy_config_file = os.path.join(args.model_dir,
os.path.basename(args.policy_config))
if args.il:
model_weights = os.path.join(args.model_dir, 'il_model.pth')
else:
if os.path.exists(
os.path.join(args.model_dir, 'resumed_rl_model.pth')):
model_weights = os.path.join(args.model_dir,
'resumed_rl_model.pth')
else:
model_weights = os.path.join(args.model_dir, 'rl_model.pth')
else:
policy_config_file = args.env_config
# configure logging and device
logging.basicConfig(level=logging.INFO,
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: %s', device)
# configure policy
policy = policy_factory[args.policy]()
policy_config = configparser.RawConfigParser()
policy_config.read(policy_config_file)
policy.configure(policy_config)
if policy.trainable:
if args.model_dir is None:
parser.error(
'Trainable policy must be specified with a model weights directory'
)
policy.get_model().load_state_dict(torch.load(model_weights))
# configure environment
env = gym.make('CrowdSim-v0')
env.configure(args.env_config)
robot = Robot()
robot.configure(args.env_config, 'robot')
robot.set_policy(policy)
env.set_robot(robot)
humans = [Human() for _ in range(env.human_num)]
for human in humans:
human.configure(args.env_config, 'humans')
env.set_humans(humans)
if args.square:
env.test_sim = 'square_crossing'
if args.circle:
env.test_sim = 'circle_crossing'
explorer = Explorer(env, robot, device, gamma=0.9)
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
robot.policy.safety_space = 0
else:
robot.policy.safety_space = 0
logging.info('ORCA agent buffer: %f', robot.policy.safety_space)
policy.set_env(env)
robot.print_info()
explorer.run_k_episodes(env.case_size[args.phase],
args.phase,
print_failure=True)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--policy', type=str, default='sail')
parser.add_argument('--env_config', type=str, default='configs/env.config')
parser.add_argument('--policy_config',
type=str,
default='configs/policy.config')
parser.add_argument('--imitate_config',
type=str,
default='configs/demonstrate.config')
parser.add_argument('--num_frames', type=int, default=1)
parser.add_argument('--output_dir', type=str, default='data/output/temp')
parser.add_argument('--memory_dir', type=str, default='data/memory/temp')
parser.add_argument('--expert_file',
type=str,
default='data/expert/rl_model.pth')
parser.add_argument('--freeze', default=False, action='store_true')
parser.add_argument('--resume', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--debug', default=False, action='store_true')
args = parser.parse_args()
# configure paths
make_new_dir = True
if os.path.exists(args.output_dir):
key = input(
'Output directory already exists! Overwrite the folder? (y/n)')
if key == 'y' and not args.resume:
shutil.rmtree(args.output_dir)
else:
make_new_dir = False
args.env_config = os.path.join(args.output_dir,
os.path.basename(args.env_config))
args.policy_config = os.path.join(
args.output_dir, os.path.basename(args.policy_config))
args.imitate_config = os.path.join(
args.output_dir, os.path.basename(args.imitate_config))
if make_new_dir:
os.makedirs(args.output_dir)
shutil.copy(args.env_config, args.output_dir)
shutil.copy(args.policy_config, args.output_dir)
shutil.copy(args.imitate_config, args.output_dir)
log_file = os.path.join(args.output_dir, 'output.log')
# configure logging
mode = 'a' if args.resume else 'w'
file_handler = logging.FileHandler(log_file, mode=mode)
stdout_handler = logging.StreamHandler(sys.stdout)
level = logging.INFO if not args.debug else logging.DEBUG
logging.basicConfig(level=level,
handlers=[stdout_handler, file_handler],
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
repo = git.Repo(search_parent_directories=True)
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info(' =========== Demonstrate %s ============ ', args.policy)
logging.info('Current git head hash code: %s', (repo.head.object.hexsha))
logging.info('Using device: %s', device)
# configure environment
env_config = configparser.RawConfigParser()
env_config.read(args.env_config)
env = gym.make('CrowdSim-v0')
env.configure(env_config)
robot = Robot(env_config, 'robot')
env.set_robot(robot)
# multi-frame env
if args.num_frames > 1:
logging.info("stack %d frames", args.num_frames)
env = FrameStack(env, args.num_frames)
# configure policy
policy = policy_factory[args.policy]()
if not policy.trainable:
parser.error('Policy has to be trainable')
if args.policy_config is None:
parser.error(
'Policy config has to be specified for a trainable network')
policy_config = configparser.RawConfigParser()
policy_config.read(args.policy_config)
# read training parameters
if args.imitate_config is None:
parser.error(
'Train config has to be specified for a trainable network')
imitate_config = configparser.RawConfigParser()
imitate_config.read(args.imitate_config)
# configure demonstration and explorer
memory = ReplayMemory(
10000000) # sufficiently large to store expert demonstration
if not os.path.exists(args.memory_dir):
os.makedirs(args.memory_dir)
if robot.visible:
demonstration_file = os.path.join(args.memory_dir,
'data_imit_visible.pt')
else:
demonstration_file = os.path.join(args.memory_dir,
'data_imit_invisible.pt')
il_episodes = imitate_config.getint('demonstration', 'il_episodes')
expert_policy = imitate_config.get('demonstration', 'il_policy')
expert_policy = policy_factory[expert_policy]()
expert_policy.configure(policy_config)
expert_policy.set_device(device)
expert_policy.set_env(env)
expert_policy.multiagent_training = policy.multiagent_training
counter = imitate_config.getint('demonstration', 'counter_start')
env.set_counter(counter)
if robot.visible:
expert_policy.safety_space = imitate_config.getfloat(
'demonstration', 'safety_space')
else:
expert_policy.safety_space = imitate_config.getfloat(
'demonstration', 'safety_space')
robot.set_policy(expert_policy)
noise_explore = imitate_config.getfloat('demonstration', 'noise_explore')
gamma = policy_config.getfloat('rl', 'gamma')
explorer = Explorer(env,
robot,
device,
args.num_frames,
memory,
gamma=gamma,
target_policy=policy)
if expert_policy.trainable:
if args.expert_file is None:
logging.warning(
'Trainable policy is NOT specified with a model weights directory'
)
else:
try:
expert_policy.get_model().load_state_dict(
torch.load(args.expert_file))
logging.info('Loaded policy from %s', args.expert_file)
except Exception as e:
logging.warning(e)
expert_policy.get_model().load_state_dict(torch.load(
args.expert_file),
strict=False)
logging.info('Loaded policy partially from %s',
args.expert_file)
robot.policy.set_epsilon(-1.0)
# data collection
robot.policy.multiagent_training = True
explorer.run_k_episodes(il_episodes,
'train',
update_memory=True,
imitation_learning=True,
noise_explore=noise_explore)
torch.save(memory.memory, demonstration_file)
logging.info('Save memory to %s', demonstration_file)
def main():
parser = argparse.ArgumentParser("Parse configuration file")
parser.add_argument("--env_config", type=str, default="configs/env.config")
parser.add_argument("--policy", type=str, default="cadrl")
parser.add_argument("--policy_config",
type=str,
default="configs/policy.config")
# parser.add_argument('--train_config', type=str, default='configs/train-test.config')
parser.add_argument("--train_config",
type=str,
default="configs/train.config")
parser.add_argument("--output_dir",
type=str,
default="data2/actenvcarl_alltf")
parser.add_argument("--weights", type=str)
parser.add_argument("--resume", default=False, action="store_true")
parser.add_argument("--gpu", default=True, action="store_true")
parser.add_argument("--debug", default=True, action="store_true")
parser.add_argument("--phase", type=str, default="train")
parser.add_argument("--test_policy_flag", type=str, default="1")
parser.add_argument("--optimizer", type=str, default="SGD")
parser.add_argument("--multi_process", type=str, default="average")
# reward parameters
parser.add_argument("--agent_timestep", type=float, default=0.4)
parser.add_argument("--human_timestep", type=float, default=0.5)
parser.add_argument("--reward_increment", type=float, default=4.0)
parser.add_argument("--position_variance", type=float, default=4.0)
parser.add_argument("--direction_variance", type=float, default=4.0)
# visable or not
parser.add_argument("--visible", default=False, action="store_true")
# act step cnt
parser.add_argument("--act_steps", type=int, default=1)
parser.add_argument("--act_fixed", default=False, action="store_true")
args = parser.parse_args()
agent_timestep = args.agent_timestep
human_timestep = args.human_timestep
reward_increment = args.reward_increment
position_variance = args.position_variance
direction_variance = args.direction_variance
# agent_visable = args.visable
optimizer_type = args.optimizer
# configure paths
make_new_dir = True
if os.path.exists(args.output_dir):
key = input(
"Output directory already exists! Overwrite the folder? (y/n)")
if key == "y" and not args.resume:
shutil.rmtree(args.output_dir)
else:
make_new_dir = False
args.env_config = os.path.join(args.output_dir,
os.path.basename(args.env_config))
args.policy_config = os.path.join(
args.output_dir, os.path.basename(args.policy_config))
args.train_config = os.path.join(
args.output_dir, os.path.basename(args.train_config))
shutil.copy("utils/trainer.py", args.output_dir)
shutil.copy("policy/" + args.policy + ".py", args.output_dir)
if make_new_dir:
os.makedirs(args.output_dir)
shutil.copy(args.env_config, args.output_dir)
shutil.copy(args.policy_config, args.output_dir)
shutil.copy(args.train_config, args.output_dir)
shutil.copy("utils/trainer.py", args.output_dir)
shutil.copy("policy/" + args.policy + ".py", args.output_dir)
log_file = os.path.join(args.output_dir, "output.log")
il_weight_file = os.path.join(args.output_dir, "il_model.pth")
rl_weight_file = os.path.join(args.output_dir, "rl_model.pth")
# configure logging
mode = "a" if args.resume else "w"
file_handler = logging.FileHandler(log_file, mode=mode)
stdout_handler = logging.StreamHandler(sys.stdout)
level = logging.INFO if not args.debug else logging.DEBUG
logging.basicConfig(
level=level,
handlers=[stdout_handler, file_handler],
format="%(asctime)s, %(levelname)s: %(message)s",
datefmt="%Y-%m-%d %H:%M:%S",
)
# repo = git.Repo(search_parent_directories=True)
# logging.info('Current git head hash code: %s'.format(repo.head.object.hexsha))
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info("Using device: %s", device)
# configure policy
policy = policy_factory[args.policy]()
# policy.set_phase(args.phase)
print("policy type: ", type(policy))
if not policy.trainable:
parser.error("Policy has to be trainable")
if args.policy_config is None:
parser.error(
"Policy config has to be specified for a trainable network")
policy_config = configparser.RawConfigParser()
policy_config.read(args.policy_config)
policy_config.set("actenvcarl", "test_policy_flag", args.test_policy_flag)
policy_config.set("actenvcarl", "multi_process", args.multi_process)
policy_config.set("actenvcarl", "act_steps", args.act_steps)
policy_config.set("actenvcarl", "act_fixed", args.act_fixed)
policy.configure(policy_config)
policy.set_device(device)
# configure environment
env_config = configparser.RawConfigParser()
env_config.read(args.env_config)
env_config.set("reward", "agent_timestep", agent_timestep)
env_config.set("reward", "human_timestep", human_timestep)
env_config.set("reward", "reward_increment", reward_increment)
env_config.set("reward", "position_variance", position_variance)
env_config.set("reward", "direction_variance", direction_variance)
env = gym.make("CrowdSim-v0")
env.configure(env_config)
# 只是为了获取部分的环境配置信息,如半径速度啥的
robot = Robot(env_config, "robot")
env.set_robot(robot)
# read training parameters
if args.train_config is None:
parser.error(
"Train config has to be specified for a trainable network")
train_config = configparser.RawConfigParser()
train_config.read(args.train_config)
rl_learning_rate = train_config.getfloat("train", "rl_learning_rate")
train_batches = train_config.getint("train", "train_batches")
train_episodes = train_config.getint("train", "train_episodes")
sample_episodes = train_config.getint("train", "sample_episodes")
target_update_interval = train_config.getint("train",
"target_update_interval")
evaluation_interval = train_config.getint("train", "evaluation_interval")
capacity = train_config.getint("train", "capacity")
epsilon_start = train_config.getfloat("train", "epsilon_start")
epsilon_end = train_config.getfloat("train", "epsilon_end")
epsilon_decay = train_config.getfloat("train", "epsilon_decay")
checkpoint_interval = train_config.getint("train", "checkpoint_interval")
# configure trainer and explorer
memory = ReplayMemory(capacity)
model = policy.get_model()
batch_size = train_config.getint("trainer", "batch_size")
trainer = Trainer(model, memory, device, batch_size)
explorer = Explorer(env,
robot,
device,
memory,
policy.gamma,
target_policy=policy)
# imitation learning
if args.resume:
if not os.path.exists(rl_weight_file):
logging.error("RL weights does not exist")
model.load_state_dict(torch.load(rl_weight_file))
rl_weight_file = os.path.join(args.output_dir, "resumed_rl_model.pth")
logging.info(
"Load reinforcement learning trained weights. Resume training")
elif os.path.exists(il_weight_file):
model.load_state_dict(torch.load(il_weight_file))
logging.info("Load imitation learning trained weights.")
else:
il_episodes = train_config.getint("imitation_learning", "il_episodes")
il_policy = train_config.get("imitation_learning", "il_policy")
il_epochs = train_config.getint("imitation_learning", "il_epochs")
il_learning_rate = train_config.getfloat("imitation_learning",
"il_learning_rate")
trainer.set_learning_rate(il_learning_rate, optimizer_type)
if robot.visible:
safety_space = 0
else:
safety_space = train_config.getfloat("imitation_learning",
"safety_space")
il_policy = policy_factory[il_policy]()
il_policy.multiagent_training = policy.multiagent_training
il_policy.safety_space = safety_space
print("il_policy: ", type(il_policy))
robot.set_policy(il_policy)
explorer.run_k_episodes(200,
"train",
update_memory=True,
imitation_learning=True)
trainer.optimize_epoch(il_epochs)
torch.save(model.state_dict(), il_weight_file)
logging.info("Finish imitation learning. Weights saved.")
logging.info("Experience set size: %d/%d", len(memory),
memory.capacity)
explorer.update_target_model(model)
# reinforcement learning
policy.set_env(env)
robot.set_policy(policy)
robot.print_info()
trainer.set_learning_rate(rl_learning_rate, optimizer_type)
# fill the memory pool with some RL experienceo
if args.resume:
robot.policy.set_epsilon(epsilon_end)
explorer.run_k_episodes(100, "train", update_memory=True, episode=0)
logging.info("Experience set size: %d/%d", len(memory),
memory.capacity)
episode = 0
while episode < train_episodes:
if args.resume:
epsilon = epsilon_end
else:
if episode < epsilon_decay:
epsilon = epsilon_start + (
epsilon_end - epsilon_start) / epsilon_decay * episode
else:
epsilon = epsilon_end
robot.policy.set_epsilon(epsilon)
# evaluate the model
if episode % evaluation_interval == 0:
explorer.run_k_episodes(env.case_size["val"],
"val",
episode=episode)
# sample k episodes into memory and optimize over the generated memory
explorer.run_k_episodes(sample_episodes,
"train",
update_memory=True,
episode=episode)
trainer.optimize_batch(train_batches)
episode += 1
if episode % target_update_interval == 0:
explorer.update_target_model(model)
if episode != 0 and episode % checkpoint_interval == 0:
# rl_weight_file_name = 'rl_model_' + str(episode) + '.pth'
rl_weight_file_name = "rl_model_{:d}.pth".format(episode)
rl_weight_file = os.path.join(args.output_dir, rl_weight_file_name)
torch.save(model.state_dict(),
rl_weight_file,
_use_new_zipfile_serialization=False)
# final test
explorer.run_k_episodes(env.case_size["test"], "test", episode=episode)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config', type=str, default='configs/env.config')
parser.add_argument('--policy_config',
type=str,
default='configs/policy.config')
parser.add_argument('--policy', type=str, default='cadrl')
parser.add_argument('--model_dir', type=str, default=None)
parser.add_argument('--il', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--visualize', default=True, action='store_true')
parser.add_argument('--phase', type=str, default='test')
parser.add_argument('--test_case', type=int, default=2)
parser.add_argument('--square', default=False, action='store_true')
parser.add_argument('--circle', default=False, action='store_true')
parser.add_argument('--video_file', type=str, default=False)
parser.add_argument('--traj', default=False, action='store_true')
parser.add_argument('--human_policy', type=str, default='socialforce')
parser.add_argument('--trained_env', type=str, default='socialforce')
args = parser.parse_args()
if args.model_dir is not None:
env_config_file = os.path.join(args.model_dir,
os.path.basename(args.env_config))
policy_config_file = os.path.join(args.model_dir,
os.path.basename(args.policy_config))
if args.il:
model_weights = os.path.join(args.model_dir, 'il_model.pth')
else:
if os.path.exists(
os.path.join(args.model_dir, 'resumed_rl_model.pth')):
model_weights = os.path.join(args.model_dir,
'resumed_rl_model.pth')
else:
model_weights = os.path.join(args.model_dir, 'rl_model.pth')
else:
env_config_file = args.env_config
policy_config_file = args.policy_config
# configure logging and device
logging.basicConfig(level=logging.INFO,
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
# device = 'cpu'
logging.info('Using device: %s', device)
# configure policy
policy = policy_factory[args.policy]()
policy_config = configparser.RawConfigParser()
policy_config.read(policy_config_file)
policy.configure(policy_config)
if policy.trainable:
if args.model_dir is None:
parser.error(
'Trainable policy must be specified with a model weights directory'
)
policy.get_model().load_state_dict(torch.load(model_weights))
# configure environment
env_config = configparser.RawConfigParser()
env_config.read(env_config_file)
env = gym.make('CrowdSim_mixed-v0')
env.configure(env_config)
if args.square:
env.test_sim = 'square_crossing'
if args.circle:
env.test_sim = 'circle_crossing'
PPL = env.human_num
robot = Robot(env_config, 'robot')
# print(robot.px)
robot.set_policy(policy)
env.set_robot(robot)
explorer = Explorer(env, robot, device, gamma=0.9)
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
robot.policy.safety_space = 0
else:
# because invisible case breaks the reciprocal assumption
# adding some safety space improves ORCA performance. Tune this value based on your need.
robot.policy.safety_space = 0
logging.info('ORCA agent buffer: %f', robot.policy.safety_space)
ppl_local = []
robot_states = []
robot_vel = []
policy.set_env(env)
robot.print_info()
non_attentive_humans = []
for case in range(args.test_case):
print(case)
rewards = []
# if args.visualize:
ob = env.reset(test_case=case)
# ob = env.reset(args.phase, case)
done = False
last_pos = np.array(robot.get_position())
# non_attentive_humans = random.sample(env.humans, int(math.ceil(env.human_num/10)))
non_attentive_humans = []
non_attentive_humans = set(non_attentive_humans)
while not done:
# print(env.global_time)
# count = env.global_time
# if count != 0:
# # old_non_attentive_humans = []
# # else:
# old_non_attentive_humans = non_attentive_humans
# # only record the first time the human reaches the goal
# if count % 4 == 0:
# print("true")
#
# non_attentive_humans = Human.get_random_humans()
# old_non_attentive_humans = non_attentive_humans
# # else:
# non_attentive_humans = old_non_attentive_humans
action = robot.act(ob)
ob, _, done, info, ppl_count, robot_pose, robot_velocity, dmin = env.step(
action, non_attentive_humans)
# ob, _, done, info, ppl_count, robot_pose, robot_velocity, dmin = env.step(action)
rewards.append(_)
ppl_local.append(ppl_count)
robot_states.append(robot_pose)
robot_vel.append(robot_velocity)
current_pos = np.array(robot.get_position())
logging.debug(
'Speed: %.2f',
np.linalg.norm(current_pos - last_pos) / robot.time_step)
last_pos = current_pos
gamma = 0.9
cumulative_reward = sum([
pow(gamma, t * robot.time_step * robot.v_pref) * reward
for t, reward in enumerate(rewards)
])
#
# #
# # # # # #
# if args.traj:
# env.render('traj', args.video_file)
# else:
# env.render('video', args.video_file)
logging.info('It takes %.2f seconds to finish. Final status is %s',
env.global_time, info)
if robot.visible and info == 'reach goal':
human_times = env.get_human_times()
logging.info('Average time for humans to reach goal: %.2f',
sum(human_times) / len(human_times))
# logging.info('PPl counter ', ppl_local)
# logging.info('PPl counter ', ppl_local)
main = "Results/"
human_policy = args.human_policy
trained_env = args.trained_env
if human_policy == 'socialforce':
maindir = 'SocialForce/'
if not os.path.exists(main + maindir):
os.mkdir(main + maindir)
else:
maindir = 'ORCA/'
if not os.path.exists(main + maindir):
os.mkdir(main + maindir)
robot_policy = args.policy
trained_env = args.trained_env
if robot_policy == 'igp_dist':
method_dir = 'igp_dist/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if robot_policy == 'ssp':
method_dir = 'ssp/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'model_predictive_rl' and trained_env == 'orca'):
method_dir = 'model_predictive_rl/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'model_predictive_rl'
and trained_env == 'socialforce'):
method_dir = 'model_predictive_rl_social/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'rgl' and trained_env == 'orca'):
method_dir = 'rgl/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'rgl' and trained_env == 'socialforce'):
method_dir = 'rgl_social/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'sarl' and trained_env == 'orca'):
method_dir = 'sarl/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'sarl' and trained_env == 'socialforce'):
method_dir = 'sarl_social/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'sarl' and trained_env == 'igpdist_sfm'):
method_dir = 'sarl_igp_sfm/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'sarl' and trained_env == 'igpdist_orca'):
method_dir = 'sarl_igp_orca/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'cadrl' and trained_env == 'orca'):
method_dir = 'cadrl/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'cadrl' and trained_env == 'socialforce'):
method_dir = 'cadrl_social/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'cadrl' and trained_env == 'orca_new'):
method_dir = 'cadrl_new/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if (robot_policy == 'cadrl' and trained_env == 'socialforce_new'):
method_dir = 'cadrl_social_new/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
if robot_policy == 'ssp2':
method_dir = 'ssp2/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
# elif robot_policy == 'cadrl':
# method_dir = 'cadrl/'
# if not os.path.exists(maindir+method_dir):
# os.mkdir(maindir+method_dir)
# elif robot_policy == 'sarl':
# method_dir = 'sarl/'
# if not os.path.exists(maindir+method_dir):
# os.mkdir(maindir+method_dir)
# elif robot_policy == 'lstm_rl':
# method_dir = 'lstm_rl/'
# if not os.path.exists(maindir+method_dir):
# os.mkdir(maindir+method_dir)
elif robot_policy == 'orca':
method_dir = 'orca/'
if not os.path.exists(main + maindir + method_dir):
os.mkdir(main + maindir + method_dir)
robot_data = pd.DataFrame()
robot_data['robot_x'] = np.array(robot_states)[:, 0]
robot_data['robot_y'] = np.array(robot_states)[:, 1]
robot_data['local_ppl_cnt'] = np.array(ppl_local)
# robot_data['dmin'] = np.array(dmin)
out_name = f'robot_data{case}.csv'
if not os.path.exists(main + maindir + method_dir + f'{PPL}/'):
os.mkdir(main + maindir + method_dir + f'{PPL}/')
# outdir = f'{PPL}/robot_data_{PPL}/'
if not os.path.exists(main + maindir + method_dir +
f'{PPL}/robot_data_{PPL}/'):
os.mkdir(main + maindir + method_dir + f'{PPL}/robot_data_{PPL}/')
fullname = os.path.join(
main + maindir + method_dir + f'{PPL}/robot_data_{PPL}/', out_name)
robot_data.to_csv(fullname, index=True)
if not os.path.exists(main + maindir + method_dir +
f'{PPL}/time_{PPL}'):
os.mkdir(main + maindir + method_dir + f'{PPL}/time_{PPL}')
Time_data = pd.DataFrame()
Time_data['time (s)'] = [env.global_time]
Time_data['mean_local'] = np.mean(ppl_local)
Time_data['std_local'] = np.std(ppl_local)
Time_data['collision_flag'] = info
Time_data['dmin'] = dmin
Time_data['reward'] = cumulative_reward
Time_data.to_csv(
main + maindir + method_dir +
f'{PPL}/time_{PPL}/robot_time_data_seconds_{PPL}_{case}.csv')
if not os.path.exists(main + maindir + method_dir +
f'{PPL}/localdensity_{PPL}'):
os.mkdir(main + maindir + method_dir + f'{PPL}/localdensity_{PPL}')
LD = pd.DataFrame()
LD['local_ppl_cnt'] = np.array(ppl_local)
LD['vx'] = np.array(robot_vel)[:, 0]
LD['vy'] = np.array(robot_vel)[:, 1]
LD.to_csv(main + maindir + method_dir +
f'{PPL}/localdensity_{PPL}/localdensity_{PPL}_{case}.csv')
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config', type=str, default='configs/env.config')
parser.add_argument('--policy_config',
type=str,
default='configs/policy.config')
parser.add_argument('--policy', type=str, default='orca')
parser.add_argument('--model_dir', type=str, default=None)
parser.add_argument('--il', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--visualize', default=False, action='store_true')
parser.add_argument('--phase', type=str, default='test')
parser.add_argument('--test_case', type=int, default=None)
parser.add_argument('--square', default=False, action='store_true')
parser.add_argument('--circle', default=False, action='store_true')
parser.add_argument('--video_file', type=str, default=None)
parser.add_argument('--traj', default=False, action='store_true')
args = parser.parse_args()
if args.model_dir is not None:
env_config_file = os.path.join(args.model_dir,
os.path.basename(args.env_config))
policy_config_file = os.path.join(args.model_dir,
os.path.basename(args.policy_config))
if args.il:
model_weights = os.path.join(args.model_dir, 'il_model.pth')
else:
if os.path.exists(
os.path.join(args.model_dir, 'resumed_rl_model.pth')):
model_weights = os.path.join(args.model_dir,
'resumed_rl_model.pth')
else:
model_weights = os.path.join(args.model_dir, 'rl_model.pth')
else:
env_config_file = args.env_config
policy_config_file = args.env_config
# configure logging and device
logging.basicConfig(level=logging.INFO,
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: %s', device)
# configure policy
policy = policy_factory[args.policy]()
policy_config = configparser.RawConfigParser()
policy_config.read(args.policy_config)
policy.configure(policy_config)
if policy.trainable:
if args.model_dir is None:
parser.error(
'Trainable policy must be specified with a model weights directory'
)
policy.get_model().load_state_dict(torch.load(model_weights))
# configure environment
env_config = configparser.RawConfigParser()
env_config.read(env_config_file)
env = gym.make('CrowdSim-v0')
env.configure(env_config)
if args.square:
env.test_sim = 'square_crossing'
if args.circle:
env.test_sim = 'circle_crossing'
robot = Robot(env_config, 'robot')
robot.set_policy(policy)
env.set_robot(robot)
explorer = Explorer(env, robot, device, gamma=0.9)
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
robot.policy.safety_space = 0
else:
# because invisible case breaks the reciprocal assumption
# adding some safety space improves ORCA performance. Tune this value based on your need.
robot.policy.safety_space = 0
logging.info('ORCA agent buffer: %f', robot.policy.safety_space)
policy.set_env(env)
robot.print_info()
if args.visualize:
ob = env.reset(args.phase, args.test_case)
done = False
last_pos = np.array(robot.get_position())
while not done:
action = robot.act(ob)
ob, _, done, info = env.step(action)
current_pos = np.array(robot.get_position())
logging.debug(
'Speed: %.2f',
np.linalg.norm(current_pos - last_pos) / robot.time_step)
last_pos = current_pos
if args.traj:
env.render('traj', args.video_file)
else:
print('video')
env.render('video', args.video_file)
logging.info('It takes %.2f seconds to finish. Final status is %s',
env.global_time, info)
if robot.visible and info == 'reach goal':
human_times = env.get_human_times()
logging.info('Average time for humans to reach goal: %.2f',
sum(human_times) / len(human_times))
else:
explorer.run_k_episodes(env.case_size[args.phase],
args.phase,
print_failure=True)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config', type=str, default='configs/env.config')
parser.add_argument('--policy_config',
type=str,
default='configs/policy.config')
parser.add_argument('--train_config',
type=str,
default='configs/train.config')
parser.add_argument('--output_dir', type=str, default='data')
parser.add_argument('--resume', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--debug', default=False, action='store_true')
parser.add_argument('--gpu_num', default="0", type=str)
args = parser.parse_args()
os.environ["CUDA_VISIBLE_DEVICES"] = args.gpu_num
########## CONFIGURE PATHS ##########
make_new_dir = True
outputs = os.listdir(args.output_dir)
# Find the 'output' files in output directory
output_nums = [
name[name.find("output") + 6:] for name in outputs if 'output' in name
and os.path.isdir(os.path.join(args.output_dir, name))
]
num = 0
if output_nums != []:
num = max([int(num) if num != '' else 0 for num in output_nums])
if num == 0:
num = ''
key = input('Continue from last output ? (y/n)')
if key == 'y' and not args.resume:
args.output_dir = os.path.join(args.output_dir,
"output" + str(num))
args.env_config = os.path.join(args.output_dir,
os.path.basename(args.env_config))
args.policy_config = os.path.join(
args.output_dir, os.path.basename(args.policy_config))
args.train_config = os.path.join(
args.output_dir, os.path.basename(args.train_config))
else:
key = input(
'Overwrite last output directory instead of new ? (y/n)')
if key == 'y' and not args.resume:
args.output_dir = os.path.join(args.output_dir,
'output' + str(num))
shutil.rmtree(args.output_dir)
os.makedirs(args.output_dir)
else:
num = num + 1 if num else 1
args.output_dir = os.path.join(args.output_dir,
'output' + str(num))
os.makedirs(args.output_dir)
shutil.copy(args.env_config, args.output_dir)
shutil.copy(args.policy_config, args.output_dir)
shutil.copy(args.train_config, args.output_dir)
else:
args.output_dir = os.path.join(args.output_dir, 'output')
os.makedirs(args.output_dir)
shutil.copy(args.env_config, args.output_dir)
shutil.copy(args.policy_config, args.output_dir)
shutil.copy(args.train_config, args.output_dir)
log_file = os.path.join(args.output_dir, 'output.log')
il_weight_file = os.path.join(args.output_dir, 'il_model.pth')
rl_weight_file = os.path.join(args.output_dir, 'rl_model.pth')
########## CONFIGURE LOGGING ##########
mode = 'a' if args.resume else 'w'
logger = logging.getLogger('train_sgan')
logger.propogate = False
level = logging.INFO if not args.debug else logging.DEBUG
logger.setLevel(level)
file_handler = logging.FileHandler(log_file, mode=mode)
file_handler.setLevel(level)
stdout_handler = logging.StreamHandler(sys.stdout)
stdout_handler.setLevel(level)
formatter = logging.Formatter('%(asctime)s, %(levelname)s: %(message)s')
stdout_handler.setFormatter(formatter)
file_handler.setFormatter(formatter)
logger.addHandler(file_handler)
logger.addHandler(stdout_handler)
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
########## CONFIGURE POLICY ##########
policy = TLSGAN(device, logger)
if args.policy_config is None:
parser.error(
'Policy config has to be specified for a trainable network')
policy_config = configparser.RawConfigParser()
policy_config.read(args.policy_config)
policy.configure(policy_config)
policy.set_device(device)
########## CONFIGURE ENVIRONMENT ##########
env_config = configparser.RawConfigParser()
env_config.read(args.env_config)
env = gym.make('CrowdSim-v0')
env.configure(env_config)
robot = Robot(env_config, 'robot')
env.set_robot(robot)
########## READ RL PARAMETERS ##########
if args.train_config is None:
parser.error(
'Train config has to be specified for a trainable network')
train_config = configparser.RawConfigParser()
train_config.read(args.train_config)
rl_learning_rate = train_config.getfloat('train', 'rl_learning_rate')
train_batches = train_config.getint('train', 'train_batches')
train_episodes = train_config.getint('train', 'train_episodes')
sample_episodes = train_config.getint('train', 'sample_episodes')
target_update_interval = train_config.getint('train',
'target_update_interval')
evaluation_interval = train_config.getint('train', 'evaluation_interval')
capacity = train_config.getint('train', 'capacity')
epsilon_start = train_config.getfloat('train', 'epsilon_start')
epsilon_end = train_config.getfloat('train', 'epsilon_end')
epsilon_decay = train_config.getfloat('train', 'epsilon_decay')
checkpoint_interval = train_config.getint('train', 'checkpoint_interval')
########## CONFIGURE MEMORY, TRAINER, EXPLORER ##########
train_memory = ReplayMemory(capacity)
val_memory = ReplayMemory(capacity)
model = policy.get_model()
batch_size = train_config.getint('trainer', 'batch_size')
trainer = Trainer(model, train_memory, val_memory, device, batch_size,
args.output_dir, logger)
explorer = Explorer(env, robot, policy.policy_learning, device,
train_memory, val_memory, policy.gamma, logger, policy,
policy.obs_len)
logger.info('Using device: %s', device)
########## IMITATION LEARNING ##########
if args.resume:
if not os.path.exists(rl_weight_file):
logger.error('RL weights does not exist')
model.load_state_dict(torch.load(rl_weight_file, map_location=device))
rl_weight_file = os.path.join(args.output_dir, 'resumed_rl_model.pth')
logger.info(
'Load reinforcement learning trained weights. Resume training')
elif os.path.exists(il_weight_file):
model.load_state_dict(torch.load(il_weight_file, map_location=device),
strict=False)
logger.info('Load imitation learning trained weights.')
if robot.visible:
safety_space = 0
else:
safety_space = train_config.getfloat('imitation_learning',
'safety_space')
il_policy = train_config.get('imitation_learning', 'il_policy')
il_policy = policy_factory[il_policy]()
il_policy.multiagent_training = policy.multiagent_training
il_policy.safety_space = safety_space
robot.set_test_policy(il_policy)
robot.set_policy(policy)
policy.set_env(env)
robot.policy.set_epsilon(epsilon_end)
explorer.run_k_episodes(100,
0,
'val',
update_memory=True,
imitation_learning=True,
with_render=False)
explorer.run_k_episodes(100,
0,
'val',
update_memory=True,
imitation_learning=True,
with_render=False)
explorer.run_k_episodes(100,
0,
'val',
update_memory=True,
imitation_learning=True,
with_render=False)
explorer.run_k_episodes(100,
0,
'val',
update_memory=True,
imitation_learning=True,
with_render=False)
explorer.run_k_episodes(100,
0,
'val',
update_memory=True,
imitation_learning=True,
with_render=False)
logger.info('Experience training set size: %d/%d', len(train_memory),
train_memory.capacity)
else:
train_episodes = train_config.getint('imitation_learning',
'train_episodes')
validation_episodes = train_config.getint('imitation_learning',
'validation_episodes')
logger.info(
'Starting imitation learning on %d training episodes and %d validation episodes',
train_episodes, validation_episodes)
il_policy = train_config.get('imitation_learning', 'il_policy')
il_epochs = train_config.getint('imitation_learning', 'il_epochs')
il_learning_rate = train_config.getfloat('imitation_learning',
'il_learning_rate')
trainer.set_learning_rate(il_learning_rate)
if robot.visible:
safety_space = 0
else:
safety_space = train_config.getfloat('imitation_learning',
'safety_space')
il_policy = policy_factory[il_policy]()
il_policy.multiagent_training = policy.multiagent_training
il_policy.safety_space = safety_space
robot.set_test_policy(il_policy)
robot.set_policy(il_policy)
explorer.run_k_episodes(train_episodes,
validation_episodes,
'train',
update_memory=True,
imitation_learning=True,
with_render=False)
trainer.optimize_epoch_il(il_epochs, robot, with_validation=True)
torch.save(model.state_dict(), il_weight_file)
logger.info('Finish imitation learning. Weights saved.')
logger.info('Experience train_set size: %d/%d', len(train_memory),
train_memory.capacity)
logger.info('Experience validation_set size: %d/%d', len(val_memory),
val_memory.capacity)
########## REINFORCEMENT LEARNING ##########
raise NotImplementedError
policy.set_env(env)
robot.set_policy(policy)
robot.print_info()
trainer.set_learning_rate(rl_learning_rate)
explorer.update_target_model(model)
robot.policy.set_epsilon(epsilon_end)
rl_memory = ReplayMemory(capacity)
explorer.train_memory = rl_memory
trainer.train_memory = rl_memory
episode = 0
while episode < train_episodes:
if args.resume:
epsilon = epsilon_end
else:
if episode < epsilon_decay:
epsilon = epsilon_start + (
epsilon_end - epsilon_start) / epsilon_decay * episode
else:
epsilon = epsilon_end
robot.policy.set_epsilon(epsilon)
# evaluate the model
if episode % evaluation_interval == 0:
explorer.run_k_episodes(env.case_size['val'],
0,
'val',
episode=episode,
with_render=False)
# sample k episodes into memory and optimize over the generated memory
explorer.run_k_episodes(sample_episodes,
0,
'train',
update_memory=True,
episode=episode)
trainer.optimize_batch_rl(train_batches)
rl_memory.clear()
episode += 1
if episode % target_update_interval == 0:
explorer.update_target_model(model)
if episode != 0 and episode % checkpoint_interval == 0:
torch.save(model.state_dict(), rl_weight_file)
# final test
explorer.run_k_episodes(env.case_size['test'], 0, 'test', episode=episode)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config', type=str, default='configs/env.config')
parser.add_argument('--policy_config',
type=str,
default='configs/policy.config')
parser.add_argument('--policy', type=str, default='orca')
parser.add_argument('--test_policy', type=str, default='mctsrnn')
parser.add_argument('--output_dir', type=str, default=None)
parser.add_argument('--save_fig', default=False, action='store_true')
parser.add_argument('--model_dir', type=str, default=None)
parser.add_argument('--pred_model_dir', type=str, default=None)
parser.add_argument('--use_mcts_sef2', default=False, action='store_true')
parser.add_argument('--il', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--visualize', default=False, action='store_true')
parser.add_argument('--phase', type=str, default='test')
parser.add_argument('--test_case', type=int, default=None)
parser.add_argument('--square', default=False, action='store_true')
parser.add_argument('--circle', default=False, action='store_true')
parser.add_argument('--mixed', default=True, action='store_true')
parser.add_argument('--video_file', type=str, default=None)
parser.add_argument('--traj', default=False, action='store_true')
parser.add_argument('--interactive', default=False, action='store_true')
parser.add_argument('--compare_scenarios',
default=False,
action='store_true')
parser.add_argument('--pattern', type=int, default=0)
args = parser.parse_args()
#Need to create a robot policy within the simulated environmnet, even though we do not use it for testing when MCTS or PF is used
if args.policy == 'mctsrnn':
args.policy = 'orca'
args.test_policy = 'mctsrnn'
elif args.policy == 'mctscv':
args.policy = 'orca'
args.test_policy = 'mctscv'
elif args.policy == 'pf':
args.policy = 'orca'
args.test_policy = 'pf'
elif args.policy == 'sarl':
args.test_policy = 'sarl'
elif args.policy == 'orca':
args.test_policy = 'orca'
else:
sys.exit(
"--policy must be one of 'mctsrnn', 'mctscv', 'pf', 'sarl', 'orca'"
)
if args.model_dir is not None:
#env_config_file = os.path.join(args.model_dir, os.path.basename(args.env_config))
policy_config_file = args.model_dir + '/policy.config'
env_config_file = args.env_config
#policy_config_file = args.policy_config
if args.il:
model_weights = os.path.join(args.model_dir, 'il_model.pth')
else:
if os.path.exists(
os.path.join(args.model_dir, 'resumed_rl_model.pth')):
model_weights = os.path.join(args.model_dir,
'resumed_rl_model.pth')
else:
model_weights = os.path.join(args.model_dir, 'rl_model.pth')
else:
env_config_file = args.env_config
#policy_config_file = args.env_config
policy_config_file = args.policy_config
# configure logging and device
logging.basicConfig(level=logging.INFO,
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: %s', device)
# configure policy
policy = policy_factory[args.policy]()
policy_config = configparser.RawConfigParser()
policy_config.read(policy_config_file)
policy.configure(policy_config)
if policy.trainable:
if args.model_dir is None:
parser.error(
'Trainable policy must be specified with a model weights directory'
)
policy.get_model().load_state_dict(torch.load(model_weights))
# configure environment
env_config = configparser.RawConfigParser()
env_config.read(env_config_file)
env = gym.make('CrowdSim-v0')
env.configure(env_config)
if args.square:
env.test_sim = 'square_crossing'
if args.circle:
env.test_sim = 'circle_crossing'
if args.mixed:
env.test_sim = 'mixed'
robot = Robot(env_config, 'robot')
robot.set_policy(policy)
env.set_robot(robot)
explorer = Explorer(env, robot, device, gamma=0.9)
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
robot.policy.safety_space = 0.2
else:
robot.policy.safety_space = 0
logging.info('ORCA agent buffer: %f', robot.policy.safety_space)
policy.set_env(env)
robot.print_info()
if args.interactive:
#for testing how orca responds to action inputs
print('phase', 'interactive')
root = Tk()
app = App(root, env, args.pattern)
root.mainloop()
elif args.visualize:
print('phase', args.phase)
ob = env.reset(args.phase, args.test_case)
done = False
last_pos = np.array(robot.get_position())
while not done:
action = robot.act(ob)
ob, _, done, info = env.step(action)
current_pos = np.array(robot.get_position())
logging.debug(
'Speed: %.2f',
np.linalg.norm(current_pos - last_pos) / robot.time_step)
last_pos = current_pos
if args.traj:
env.render('traj', args.video_file)
else:
env.render('video', args.video_file)
logging.info('It takes %.2f seconds to finish. Final status is %s',
env.global_time, info)
if robot.visible and info == 'reach goal':
human_times = env.get_human_times()
logging.info('Average time for humans to reach goal: %.2f',
sum(human_times) / len(human_times))
else:
explorer.run_k_episodes(env.case_size[args.phase],
args.phase,
print_failure=True,
test_policy=args.test_policy,
output_dir=args.output_dir,
save_fig=args.save_fig,
model_dir=args.pred_model_dir,
use_mcts_sef2=args.use_mcts_sef2,
comparisons=args.compare_scenarios)
env_config = configparser.RawConfigParser()
env_config.read('configs/env.config')
if args.policy == 'orca':
env = CrowdSim()
else:
env = CrowdSim_SF()
env.configure(env_config)
robot = Robot(env_config, 'robot')
robot.set_policy(policy)
env.set_robot(robot)
# explorer, memory is not used as we will only use the explorer in test mode
memory = ReplayMemory(100000)
explorer = Explorer(env,
robot,
device,
memory,
policy.gamma,
target_policy=policy)
policy.set_env(env)
robot.set_policy(policy)
mods = {
'neighbor_dist': args.neighd,
'max_neighbors': args.maxn,
'time_horizon': args.timeh,
'max_speed': 1
}
env.modify_domain(mods)
mods = {'sigma': args.sigma, 'v0': args.v0, 'tau': args.tau}
env.modify_domain(mods)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config', type=str, default='data/output/env.config')
parser.add_argument('--policy_config', type=str, default='data/output/policy.config')
parser.add_argument('--policy', type=str, default='scr')
parser.add_argument('--model_dir', type=str, default=None)
parser.add_argument('--il', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--visualize', default=False, action='store_true')
parser.add_argument('--phase', type=str, default='test')
parser.add_argument('--test_case', type=int, default=None)
parser.add_argument('--square', default=False, action='store_true')
parser.add_argument('--circle', default=False, action='store_true')
parser.add_argument('--video_file', type=str, default=None)
parser.add_argument('--plot_file', type=str, default=None)
args = parser.parse_args()
if args.model_dir is not None:
env_config_file = os.path.join(args.model_dir, os.path.basename(args.env_config))
policy_config_file = os.path.join(args.model_dir, os.path.basename(args.policy_config))
if args.il:
model_weights = os.path.join(args.model_dir, 'il_model.pth')
else:
if os.path.exists(os.path.join(args.model_dir, 'resumed_rl_model.pth')):
model_weights = os.path.join(args.model_dir, 'resumed_rl_model.pth')
else:
model_weights = os.path.join(args.model_dir, 'rl_model.pth')
else:
policy_config_file = args.env_config
# configure logging and device
logging.basicConfig(level=logging.INFO, format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device("cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: %s', device)
# configure policy
policy = policy_factory[args.policy]()
policy_config = configparser.RawConfigParser()
policy_config.read(policy_config_file)
policy.configure(policy_config)
if policy.trainable:
if args.model_dir is None:
parser.error('Trainable policy must be specified with a model weights directory')
policy.get_model().load_state_dict(torch.load(model_weights))
# configure environment
env = gym.make('CrowdSim-v0')
env.configure(args.env_config)
robot = Robot()
robot.configure(args.env_config, 'robot')
robot.set_policy(policy)
env.set_robot(robot)
humans = [Human() for _ in range(env.human_num)]
for human in humans:
human.configure(args.env_config, 'humans')
env.set_humans(humans)
if args.square:
env.test_sim = 'square_crossing'
if args.circle:
env.test_sim = 'circle_crossing'
explorer = Explorer(env, robot, device, gamma=0.9)
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
robot.policy.safety_space = 0
else:
robot.policy.safety_space = 0
logging.info('ORCA agent buffer: %f', robot.policy.safety_space)
policy.set_env(env)
robot.print_info()
ob = env.reset(args.phase, args.test_case)
done = False
last_pos = np.array(robot.get_position())
observation_subscribers = []
if args.plot_file:
plotter = Plotter(args.plot_file)
observation_subscribers.append(plotter)
if args.video_file:
video = Video(args.video_file)
observation_subscribers.append(video)
t = 0
while not done:
action = robot.act(ob)
ob, _, done, info = env.step(action)
notify(observation_subscribers, env.state)
if args.visualize:
env.render()
plt.pause(.001)
current_pos = np.array(robot.get_position())
logging.debug('Speed: %.2f', np.linalg.norm(current_pos - last_pos) / robot.time_step)
last_pos = current_pos
t += 1
if args.plot_file:
plotter.save()
if args.video_file:
video.make([robot.policy.draw_attention, robot.policy.draw_observation])
logging.info('It takes %.2f seconds to finish. Final status is %s', env.global_time, info)
if robot.visible and info == 'reach goal':
human_times = env.get_human_times()
logging.info('Average time for humans to reach goal: %.2f', sum(human_times) / len(human_times))
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config', type=str, default='configs/env.config')
parser.add_argument('--policy_config',
type=str,
default='configs/policy.config')
parser.add_argument('--policy', type=str, default='orca')
parser.add_argument('--model_dir', type=str, default=None)
parser.add_argument('--il', default=False, action='store_true')
parser.add_argument('--gpu', default=True, action='store_true')
parser.add_argument('--visualize', default=False, action='store_true')
parser.add_argument('--phase', type=str, default='test')
parser.add_argument('--test_case', type=int, default=None)
parser.add_argument('--square', default=False, action='store_true')
parser.add_argument('--circle', default=False, action='store_true')
parser.add_argument('--video_file', type=str, default=None)
parser.add_argument('--traj', default=False, action='store_true')
parser.add_argument("--test_policy_flag", type=str, default="1")
parser.add_argument("--optimizer", type=str, default="SGD")
parser.add_argument("--multi_process", type=str, default="average")
parser.add_argument("--human_num", type=int, default=5)
# 环境reward相关的参数
parser.add_argument("--agent_timestep", type=float, default=0.4)
parser.add_argument("--human_timestep", type=float, default=0.5)
parser.add_argument("--reward_increment", type=float, default=4.0)
parser.add_argument("--position_variance", type=float, default=4.0)
parser.add_argument("--direction_variance", type=float, default=4.0)
# visable or not
parser.add_argument("--visible", default=False, action="store_true")
# act step cnt
parser.add_argument("--act_steps", type=int, default=1)
parser.add_argument("--act_fixed", default=False, action="store_true")
args = parser.parse_args()
human_num = args.human_num
agent_timestep = args.agent_timestep
human_timestep = args.human_timestep
reward_increment = args.reward_increment
position_variance = args.position_variance
direction_variance = args.direction_variance
agent_visible = args.visible
print(agent_timestep, " ", human_timestep, " ", reward_increment, " ",
position_variance, " ", direction_variance, " ", agent_visible)
if args.model_dir is not None:
env_config_file = os.path.join(args.model_dir,
os.path.basename(args.env_config))
policy_config_file = os.path.join(args.model_dir,
os.path.basename(args.policy_config))
if args.il:
print("model: il_model.pth")
model_weights = os.path.join(args.model_dir, 'il_model.pth')
else:
if os.path.exists(
os.path.join(args.model_dir, 'resumed_rl_model.pth')):
print("model: resumed_rl_model.pth")
model_weights = os.path.join(args.model_dir,
'resumed_rl_model.pth')
else:
model_path_ = "rl_model_5400.pth"
print("model: ", model_path_)
model_weights = os.path.join(args.model_dir, model_path_)
else:
env_config_file = args.env_config
policy_config_file = args.env_config
# configure logging and device
logging.basicConfig(level=logging.INFO,
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
# device = torch.device("cpu")
logging.info('Using device: %s', device)
# configure policy
policy = policy_factory[args.policy]()
policy_config = configparser.RawConfigParser()
policy_config.read(policy_config_file)
policy_config.set("actenvcarl", "test_policy_flag", args.test_policy_flag)
policy_config.set("actenvcarl", "multi_process", args.multi_process)
policy_config.set("actenvcarl", "act_steps", args.act_steps)
policy_config.set("actenvcarl", "act_fixed", args.act_fixed)
policy.configure(policy_config)
if policy.trainable:
if args.model_dir is None:
parser.error(
'Trainable policy must be specified with a model weights directory'
)
# policy.get_model().load_state_dict(torch.load(model_weights, map_location={'cuda:2':'cuda:0'}))
policy.get_model().load_state_dict(torch.load(model_weights))
# policy.get_model().load_state_dict(torch.jit.load(model_weights))
# configure environment
env_config = configparser.RawConfigParser()
env_config.read(env_config_file)
env_config.set("sim", "human_num", human_num)
env_config.set("reward", "agent_timestep", agent_timestep)
env_config.set("reward", "human_timestep", human_timestep)
env_config.set("reward", "reward_increment", reward_increment)
env_config.set("reward", "position_variance", position_variance)
env_config.set("reward", "direction_variance", direction_variance)
# env_config.set("robot", "visible", agent_visible)
env = gym.make('CrowdSim-v0')
env.configure(env_config)
if args.square:
env.test_sim = 'square_crossing'
if args.circle:
env.test_sim = 'circle_crossing'
robot = Robot(env_config, 'robot')
robot.visible = agent_visible
print("robot visable: ", robot.visible)
robot.set_policy(policy)
env.set_robot(robot)
explorer = Explorer(env, robot, device, gamma=0.9)
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
robot.policy.safety_space = 0
else:
robot.policy.safety_space = 0
logging.info('ORCA agent buffer: %f', robot.policy.safety_space)
policy.set_env(env)
robot.print_info()
if args.visualize:
ob = env.reset(args.phase, args.test_case)
done = False
last_pos = np.array(robot.get_position())
while not done:
action = robot.act(ob)
ob, _, done, info = env.step(action)
current_pos = np.array(robot.get_position())
logging.debug(
'Speed: %.2f',
np.linalg.norm(current_pos - last_pos) / robot.time_step)
last_pos = current_pos
if args.traj:
env.render('traj', args.video_file)
else:
env.render('video', args.video_file)
logging.info('It takes %.2f seconds to finish. Final status is %s',
env.global_time, info)
if robot.visible and info == 'reach goal':
human_times = env.get_human_times()
logging.info('Average time for humans to reach goal: %.2f',
sum(human_times) / len(human_times))
else:
logging.info("run k episodes")
# explorer.run_k_episodes(env.case_size[args.phase], args.phase, print_failure=True)
explorer.run_k_episodes(50, args.phase, print_failure=True)
def main(args):
set_random_seeds(args.randomseed)
# configure paths
make_new_dir = True
if os.path.exists(args.output_dir):
if args.overwrite:
shutil.rmtree(args.output_dir)
else:
shutil.rmtree(args.output_dir)
if make_new_dir:
os.makedirs(args.output_dir)
shutil.copy(args.config, os.path.join(args.output_dir, 'config.py'))
# # insert the arguments from command line to the config file
# with open(os.path.join(args.output_dir, 'config.py'), 'r') as fo:
# config_text = fo.read()
# search_pairs = {r"gcn.X_dim = \d*": "gcn.X_dim = {}".format(args.X_dim),
# r"gcn.num_layer = \d": "gcn.num_layer = {}".format(args.layers),
# r"gcn.similarity_function = '\w*'": "gcn.similarity_function = '{}'".format(args.sim_func),
# r"gcn.layerwise_graph = \w*": "gcn.layerwise_graph = {}".format(args.layerwise_graph),
# r"gcn.skip_connection = \w*": "gcn.skip_connection = {}".format(args.skip_connection)}
#
# for find, replace in search_pairs.items():
# config_text = re.sub(find, replace, config_text)
#
# with open(os.path.join(args.output_dir, 'config.py'), 'w') as fo:
# fo.write(config_text)
args.config = os.path.join(args.output_dir, 'config.py')
log_file = os.path.join(args.output_dir, 'output.log')
in_weight_file = os.path.join(args.output_dir, 'in_model.pth')
il_weight_file = os.path.join(args.output_dir, 'il_model.pth')
rl_weight_file = os.path.join(args.output_dir, 'rl_model.pth')
spec = importlib.util.spec_from_file_location('config', args.config)
if spec is None:
parser.error('Config file not found.')
config = importlib.util.module_from_spec(spec)
spec.loader.exec_module(config)
# configure logging
mode = 'a' if args.resume else 'w'
file_handler = logging.FileHandler(log_file, mode=mode)
stdout_handler = logging.StreamHandler(sys.stdout)
level = logging.INFO if not args.debug else logging.DEBUG
logging.basicConfig(level=level,
handlers=[stdout_handler, file_handler],
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
repo = git.Repo(search_parent_directories=True)
logging.info('Current git head hash code: {}'.format(
repo.head.object.hexsha))
logging.info('Current random seed: {}'.format(sys_args.randomseed))
logging.info('Current safe_weight: {}'.format(sys_args.safe_weight))
logging.info('Current goal_weight: {}'.format(sys_args.goal_weight))
logging.info('Current re_collision: {}'.format(sys_args.re_collision))
logging.info('Current re_arrival: {}'.format(sys_args.re_arrival))
logging.info('Current config content is :{}'.format(config))
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: %s', device)
writer = SummaryWriter(log_dir=args.output_dir)
# configure policy
policy_config = config.PolicyConfig()
policy = policy_factory[policy_config.name]()
if not policy.trainable:
parser.error('Policy has to be trainable')
policy.configure(policy_config, device)
policy.set_device(device)
# configure environment
env_config = config.EnvConfig(args.debug)
env_config.reward.collision_penalty = args.re_collision
env_config.reward.success_reward = args.re_arrival
env_config.reward.goal_factor = args.goal_weight
env_config.reward.discomfort_penalty_factor = args.safe_weight
env_config.sim.human_num = args.human_num
env = gym.make('CrowdSim-v0')
env.configure(env_config)
robot = Robot(env_config, 'robot')
robot.time_step = env.time_step
env.set_robot(robot)
reward_estimator = Reward_Estimator()
reward_estimator.configure(env_config)
policy.reward_estimator = reward_estimator
# for continous action
action_dim = env.action_space.shape[0]
max_action = env.action_space.high
min_action = env.action_space.low
# read training parameters
train_config = config.TrainConfig(args.debug)
rl_learning_rate = train_config.train.rl_learning_rate
train_batches = train_config.train.train_batches
train_episodes = train_config.train.train_episodes
sample_episodes = train_config.train.sample_episodes
target_update_interval = train_config.train.target_update_interval
evaluation_interval = train_config.train.evaluation_interval
capacity = train_config.train.capacity
epsilon_start = train_config.train.epsilon_start
epsilon_end = train_config.train.epsilon_end
epsilon_decay = train_config.train.epsilon_decay
checkpoint_interval = train_config.train.checkpoint_interval
# configure trainer and explorer
memory = ReplayMemory(capacity)
model = policy.get_model()
batch_size = train_config.trainer.batch_size
optimizer = train_config.trainer.optimizer
print(policy_config.name)
if policy_config.name == 'model_predictive_rl':
trainer = MPRLTrainer(
model,
policy.state_predictor,
memory,
device,
policy,
writer,
batch_size,
optimizer,
env.human_num,
reduce_sp_update_frequency=train_config.train.
reduce_sp_update_frequency,
freeze_state_predictor=train_config.train.freeze_state_predictor,
detach_state_predictor=train_config.train.detach_state_predictor,
share_graph_model=policy_config.model_predictive_rl.
share_graph_model)
elif policy_config.name == 'tree_search_rl':
trainer = TSRLTrainer(
model,
policy.state_predictor,
memory,
device,
policy,
writer,
batch_size,
optimizer,
env.human_num,
reduce_sp_update_frequency=train_config.train.
reduce_sp_update_frequency,
freeze_state_predictor=train_config.train.freeze_state_predictor,
detach_state_predictor=train_config.train.detach_state_predictor,
share_graph_model=policy_config.model_predictive_rl.
share_graph_model)
elif policy_config.name == 'gat_predictive_rl':
trainer = MPRLTrainer(
model,
policy.state_predictor,
memory,
device,
policy,
writer,
batch_size,
optimizer,
env.human_num,
reduce_sp_update_frequency=train_config.train.
reduce_sp_update_frequency,
freeze_state_predictor=train_config.train.freeze_state_predictor,
detach_state_predictor=train_config.train.detach_state_predictor,
share_graph_model=policy_config.model_predictive_rl.
share_graph_model)
elif policy_config.name == 'td3_rl':
policy.set_action(action_dim, max_action, min_action)
trainer = TD3RLTrainer(
policy.actor,
policy.critic,
policy.state_predictor,
memory,
device,
policy,
writer,
batch_size,
optimizer,
env.human_num,
reduce_sp_update_frequency=train_config.train.
reduce_sp_update_frequency,
freeze_state_predictor=train_config.train.freeze_state_predictor,
detach_state_predictor=train_config.train.detach_state_predictor,
share_graph_model=policy_config.model_predictive_rl.
share_graph_model)
else:
trainer = VNRLTrainer(model, memory, device, policy, batch_size,
optimizer, writer)
explorer = Explorer(env,
robot,
device,
writer,
memory,
policy.gamma,
target_policy=policy)
policy.save_model(in_weight_file)
# imitation learning
# if args.resume:
# if not os.path.exists(rl_weight_file):
# logging.error('RL weights does not exist')
# policy.load_state_dict(torch.load(rl_weight_file))
# model = policy.get_model()
# rl_weight_file = os.path.join(args.output_dir, 'resumed_rl_model.pth')
# logging.info('Load reinforcement learning trained weights. Resume training')
# elif os.path.exists(il_weight_file):
# policy.load_state_dict(torch.load(rl_weight_file))
# model = policy.get_model()
# logging.info('Load imitation learning trained weights.')
# else:
# il_episodes = train_config.imitation_learning.il_episodes
# il_policy = train_config.imitation_learning.il_policy
# il_epochs = train_config.imitation_learning.il_epochs
# il_learning_rate = train_config.imitation_learning.il_learning_rate
# trainer.set_learning_rate(il_learning_rate)
# if robot.visible:
# safety_space = 0
# else:
# safety_space = train_config.imitation_learning.safety_space
# il_policy = policy_factory[il_policy]()
# il_policy.set_common_parameters(policy_config)
# il_policy.multiagent_training = policy.multiagent_training
# il_policy.safety_space = safety_space
# robot.set_policy(il_policy)
# explorer.run_k_episodes(il_episodes, 'train', update_memory=True, imitation_learning=True)
# trainer.optimize_epoch(il_epochs)
# policy.save_model(il_weight_file)
# logging.info('Finish imitation learning. Weights saved.')
# logging.info('Experience set size: %d/%d', len(memory), memory.capacity)
trainer.update_target_model(model)
# reinforcement learning
policy.set_env(env)
robot.set_policy(policy)
robot.print_info()
trainer.set_rl_learning_rate(rl_learning_rate)
# fill the memory pool with some RL experience
if args.resume:
robot.policy.set_epsilon(epsilon_end)
explorer.run_k_episodes(100, 'train', update_memory=True, episode=0)
logging.info('Experience set size: %d/%d', len(memory),
memory.capacity)
episode = 0
best_val_reward = -1
best_val_return = -1
best_val_model = None
# evaluate the model after imitation learning
if episode % evaluation_interval == 0:
logging.info(
'Evaluate the model instantly after imitation learning on the validation cases'
)
explorer.run_k_episodes(env.case_size['val'], 'val', episode=episode)
explorer.log('val', episode // evaluation_interval)
if args.test_after_every_eval:
explorer.run_k_episodes(env.case_size['test'],
'test',
episode=episode,
print_failure=True)
explorer.log('test', episode // evaluation_interval)
episode = 0
reward_rec = []
return_rec = []
discom_tim_rec = []
nav_time_rec = []
total_time_rec = []
reward_in_last_interval = 0
return_in_last_interval = 0
nav_time__in_last_interval = 0
discom_time_in_last_interval = 0
total_time_in_last_interval = 0
eps_count = 0
fw = open(sys_args.output_dir + '/data.txt', 'w')
print("%f %f %f %f %f" % (0, 0, 0, 0, 0), file=fw)
while episode < train_episodes:
if args.resume:
epsilon = epsilon_end
else:
if episode < epsilon_decay:
epsilon = epsilon_start + (
epsilon_end - epsilon_start) / epsilon_decay * episode
else:
epsilon = epsilon_end
robot.policy.set_epsilon(epsilon)
# sample k episodes into memory and optimize over the generated memory
_, _, nav_time, sum_reward, ave_return, discom_time, total_time = \
explorer.run_k_episodes(sample_episodes, 'train', update_memory=True, episode=episode)
eps_count = eps_count + 1
reward_in_last_interval = reward_in_last_interval + sum_reward
return_in_last_interval = return_in_last_interval + ave_return
nav_time__in_last_interval = nav_time__in_last_interval + nav_time
discom_time_in_last_interval = discom_time_in_last_interval + discom_time
total_time_in_last_interval = total_time_in_last_interval + total_time
interval = 100
if eps_count % interval == 0:
reward_rec.append(reward_in_last_interval / 100.0)
return_rec.append(return_in_last_interval / 100.0)
discom_tim_rec.append(discom_time_in_last_interval / 100.0)
nav_time_rec.append(nav_time__in_last_interval / 100.0)
total_time_rec.append(total_time_in_last_interval / 100.0)
logging.info(
'Train in episode %d reward in last 100 episodes %f %f %f %f %f',
eps_count, reward_rec[-1], return_rec[-1], discom_tim_rec[-1],
nav_time_rec[-1], total_time_rec[-1])
print("%f %f %f %f %f" %
(reward_rec[-1], return_rec[-1], discom_tim_rec[-1],
nav_time_rec[-1], total_time_rec[-1]),
file=fw)
reward_in_last_interval = 0
return_in_last_interval = 0
nav_time__in_last_interval = 0
discom_time_in_last_interval = 0
total_time_in_last_interval = 0
min_reward = (np.min(reward_rec) // 5.0) * 5.0
max_reward = (np.max(reward_rec) // 5.0 + 1) * 5.0
pos = np.array(range(1, len(reward_rec) + 1)) * interval
plt.plot(pos,
reward_rec,
color='r',
marker='.',
linestyle='dashed')
plt.axis([0, eps_count, min_reward, max_reward])
savefig(args.output_dir + "/reward_record.jpg")
explorer.log('train', episode)
trainer.optimize_batch(train_batches, episode)
episode += 1
if episode % target_update_interval == 0:
trainer.update_target_model(model)
# evaluate the model
if episode % evaluation_interval == 0:
_, _, _, reward, average_return, _, _ = explorer.run_k_episodes(
env.case_size['val'], 'val', episode=episode)
explorer.log('val', episode // evaluation_interval)
if episode % checkpoint_interval == 0 and average_return > best_val_return:
best_val_return = average_return
best_val_model = copy.deepcopy(policy.get_state_dict())
# test after every evaluation to check how the generalization performance evolves
if args.test_after_every_eval:
explorer.run_k_episodes(env.case_size['test'],
'test',
episode=episode,
print_failure=True)
explorer.log('test', episode // evaluation_interval)
if episode != 0 and episode % checkpoint_interval == 0:
current_checkpoint = episode // checkpoint_interval - 1
save_every_checkpoint_rl_weight_file = rl_weight_file.split(
'.')[0] + '_' + str(current_checkpoint) + '.pth'
policy.save_model(save_every_checkpoint_rl_weight_file)
# # test with the best val model
fw.close()
if best_val_model is not None:
policy.load_state_dict(best_val_model)
torch.save(best_val_model, os.path.join(args.output_dir,
'best_val.pth'))
logging.info('Save the best val model with the return: {}'.format(
best_val_return))
explorer.run_k_episodes(env.case_size['test'],
'test',
episode=episode,
print_failure=True)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config', type=str, default='configs/env.config')
parser.add_argument('--policy', type=str, default='scr')
parser.add_argument('--policy_config',
type=str,
default='configs/policy.config')
parser.add_argument('--train_config',
type=str,
default='configs/train.config')
parser.add_argument('--output_dir', type=str, default='data/output')
parser.add_argument('--weights', type=str)
parser.add_argument('--resume', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--debug', default=False, action='store_true')
args = parser.parse_args()
# configure paths
make_new_dir = True
if os.path.exists(args.output_dir):
key = input(
'Output directory already exists! Overwrite the folder? (y/n)')
if key == 'y' and not args.resume:
shutil.rmtree(args.output_dir)
else:
make_new_dir = False
args.env_config = os.path.join(args.output_dir,
os.path.basename(args.env_config))
args.policy_config = os.path.join(
args.output_dir, os.path.basename(args.policy_config))
args.train_config = os.path.join(
args.output_dir, os.path.basename(args.train_config))
if make_new_dir:
os.makedirs(args.output_dir)
shutil.copy(args.env_config, args.output_dir)
shutil.copy(args.policy_config, args.output_dir)
shutil.copy(args.train_config, args.output_dir)
log_file = os.path.join(args.output_dir, 'output.log')
il_weight_file = os.path.join(args.output_dir, 'il_model.pth')
rl_weight_file = os.path.join(args.output_dir, 'rl_model.pth')
# configure logging
mode = 'a' if args.resume else 'w'
file_handler = logging.FileHandler(log_file, mode=mode)
stdout_handler = logging.StreamHandler(sys.stdout)
level = logging.INFO if not args.debug else logging.DEBUG
logging.basicConfig(level=level,
handlers=[stdout_handler, file_handler],
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
repo = git.Repo(search_parent_directories=True)
logging.info('Current git head hash code: %s'.format(
repo.head.object.hexsha))
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: %s', device)
# configure policy
policy = policy_factory[args.policy]()
if not policy.trainable:
parser.error('Policy has to be trainable')
if args.policy_config is None:
parser.error(
'Policy config has to be specified for a trainable network')
policy_config = configparser.RawConfigParser()
policy_config.read(args.policy_config)
policy.configure(policy_config)
policy.set_device(device)
# configure environment
env = gym.make('CrowdSim-v0')
env.configure(args.env_config)
robot = Robot()
robot.configure(args.env_config, 'robot')
env.set_robot(robot)
humans = [Human() for _ in range(env.human_num)]
for human in humans:
human.configure(args.env_config, 'humans')
env.set_humans(humans)
# read training parameters
if args.train_config is None:
parser.error(
'Train config has to be specified for a trainable network')
train_config = configparser.RawConfigParser()
train_config.read(args.train_config)
rl_learning_rate = train_config.getfloat('train', 'rl_learning_rate')
train_batches = train_config.getint('train', 'train_batches')
train_episodes = train_config.getint('train', 'train_episodes')
sample_episodes = train_config.getint('train', 'sample_episodes')
target_update_interval = train_config.getint('train',
'target_update_interval')
evaluation_interval = train_config.getint('train', 'evaluation_interval')
capacity = train_config.getint('train', 'capacity')
epsilon_start = train_config.getfloat('train', 'epsilon_start')
epsilon_end = train_config.getfloat('train', 'epsilon_end')
epsilon_decay = train_config.getfloat('train', 'epsilon_decay')
checkpoint_interval = train_config.getint('train', 'checkpoint_interval')
# configure trainer and explorer
memory = ReplayMemory(capacity)
model = policy.get_model()
batch_size = train_config.getint('trainer', 'batch_size')
trainer = Trainer(policy, memory, device, batch_size)
explorer = Explorer(env,
robot,
device,
memory,
policy.gamma,
target_policy=policy)
# imitation learning
if args.resume:
if not os.path.exists(rl_weight_file):
logging.error('RL weights does not exist')
model.load_state_dict(torch.load(rl_weight_file))
rl_weight_file = os.path.join(args.output_dir, 'resumed_rl_model.pth')
logging.info(
'Load reinforcement learning trained weights. Resume training')
elif os.path.exists(il_weight_file):
model.load_state_dict(torch.load(il_weight_file))
logging.info('Load imitation learning trained weights.')
else:
il_episodes = train_config.getint('imitation_learning', 'il_episodes')
il_policy = train_config.get('imitation_learning', 'il_policy')
il_epochs = train_config.getint('imitation_learning', 'il_epochs')
il_learning_rate = train_config.getfloat('imitation_learning',
'il_learning_rate')
trainer.set_learning_rate(il_learning_rate)
if robot.visible:
safety_space = 0
else:
safety_space = train_config.getfloat('imitation_learning',
'safety_space')
il_policy = policy_factory[il_policy]()
il_policy.multiagent_training = policy.multiagent_training
il_policy.safety_space = safety_space
robot.set_policy(il_policy)
explorer.run_k_episodes(il_episodes,
'train',
update_memory=True,
imitation_learning=True)
trainer.optimize_epoch(il_epochs)
torch.save(model.state_dict(), il_weight_file)
logging.info('Finish imitation learning. Weights saved.')
logging.info('Experience set size: %d/%d', len(memory),
memory.capacity)
explorer.update_target_model(model)
# reinforcement learning
policy.set_env(env)
robot.set_policy(policy)
robot.print_info()
trainer.set_learning_rate(rl_learning_rate)
# fill the memory pool with some RL experience
if args.resume:
robot.policy.set_epsilon(epsilon_end)
explorer.run_episode('val', video_file=f'data/output/video_e{-1}.mp4')
explorer.run_k_episodes(100, 'train', update_memory=True, episode=0)
logging.info('Experience set size: %d/%d', len(memory),
memory.capacity)
episode = 0
while episode < train_episodes:
if args.resume:
epsilon = epsilon_end
else:
if episode < epsilon_decay:
epsilon = epsilon_start + (
epsilon_end - epsilon_start) / epsilon_decay * episode
else:
epsilon = epsilon_end
robot.policy.set_epsilon(epsilon)
# sample k episodes into memory and optimize over the generated memory
explorer.run_k_episodes(sample_episodes,
'train',
update_memory=True,
episode=episode)
trainer.optimize_batch(train_batches)
# evaluate the model
if episode % evaluation_interval == 0:
explorer.run_episode(
'val', video_file=f'data/output/video_e{episode}.mp4')
episode += 1
if episode % target_update_interval == 0:
explorer.update_target_model(model)
if episode != 0 and episode % checkpoint_interval == 0:
torch.save(model.state_dict(), rl_weight_file)
# final test
explorer.run_k_episodes(env.case_size['test'], 'test', episode=episode)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--config',
type=str,
default='configs/icra_benchmark/mp_separate.py')
parser.add_argument('--env_config',
type=str,
default='data/ORCA/mprl/eth_env.config')
# parser.add_argument('--env_config', type=str, default='configs/env.config')
parser.add_argument('--policy_config',
type=str,
default='configs/icra_benchmark/policy.config')
parser.add_argument('--policy', type=str, default='model_predictive_rl')
parser.add_argument('--model_dir', type=str, default='data/ORCA/mprl')
parser.add_argument('--il', default=False, action='store_true')
parser.add_argument('--rl', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--human_num', type=int, default=None)
parser.add_argument('--visualize', default=False, action='store_true')
parser.add_argument('--phase', type=str, default='test')
parser.add_argument('--test_case', type=int, default=None)
parser.add_argument('--square', default=False, action='store_true')
parser.add_argument('--circle', default=False, action='store_true')
parser.add_argument('--rect', default=False, action='store_true')
parser.add_argument('--video_file', type=str, default=None)
parser.add_argument('--traj', default=False, action='store_true')
parser.add_argument('--traj_new', default=False, action='store_true')
parser.add_argument('--final_file', type=str, default='final_metrics')
parser.add_argument('--plot', default=False, action='store_true')
parser.add_argument('--trained_env', type=str, default='orca')
parser.add_argument('--resumed', default=False, action='store_true')
parser.add_argument('--debug', default=False, action='store_true')
parser.add_argument('--plot_test_scenarios_hist',
default=True,
action='store_true')
parser.add_argument('-d', '--planning_depth', type=int, default=None)
parser.add_argument('-w', '--planning_width', type=int, default=None)
parser.add_argument('--sparse_search', default=False, action='store_true')
args = parser.parse_args()
# if model_dir:
# args.model_dir = model_dir
# if args.il:
# model_weights = os.path.join(args.model_dir, 'il_model.pth')
# else:
# if os.path.exists(os.path.join(args.model_dir, 'resumed_rl_model.pth')):
# model_weights = os.path.join(args.model_dir, 'resumed_rl_model.pth')
# else:
# model_weights = os.path.join(args.model_dir, 'rl_model.pth')
if args.model_dir is not None:
if args.config is not None:
config_file = args.config
env_config_file = os.path.join(args.model_dir,
os.path.basename(args.env_config))
else:
config_file = os.path.join(args.model_dir,
'configs/icra_benchmark/config.py')
if args.il:
model_weights = os.path.join(args.model_dir, 'il_model.pth')
logging.info('Loaded IL weights')
elif args.rl:
if os.path.exists(
os.path.join(args.model_dir, 'resumed_rl_model.pth')):
model_weights = os.path.join(args.model_dir,
'resumed_rl_model.pth')
else:
print(os.listdir(args.model_dir))
model_weights = os.path.join(
args.model_dir,
sorted(os.listdir(args.model_dir))[-1])
logging.info('Loaded RL weights')
else:
model_weights = os.path.join(args.model_dir, 'best_val.pth')
logging.info('Loaded RL weights with best VAL')
else:
config_file = args.config
env_config_file = args.env_config
# policy_config_file = args.policy_config
spec = importlib.util.spec_from_file_location('config', config_file)
if spec is None:
parser.error('Config file not found.')
config = importlib.util.module_from_spec(spec)
spec.loader.exec_module(config)
# if args.model_dir is not None:
# env_config_file = os.path.join(args.model_dir, os.path.basename(args.env_config))
# policy_config_file = os.path.join(args.model_dir, os.path.basename(args.policy_config))
# if args.il:
# model_weights = os.path.join(args.model_dir, 'il_model.pth')
# else:
# if os.path.exists(os.path.join(args.model_dir, 'resumed_rl_model.pth')):
# model_weights = os.path.join(args.model_dir, 'resumed_rl_model.pth')
# else:
# model_weights = os.path.join(args.model_dir, 'rl_model.pth')
# else:
# env_config_file = args.env_config
# policy_config_file = args.policy_config
# env_config_file = os.path.join(args.model_dir, os.path.basename(args.env_config))
# policy_config_file = os.path.join(args.model_dir, os.path.basename(args.policy_config))
# if args.il:
# model_weights = os.path.join(args.model_dir, 'il_model.pth')
# elif args.resumed:
# model_weights = os.path.join(args.model_dir, 'resumed_rl_model.pth')
# else:
# model_weights = os.path.join(args.model_dir, 'rl_model.pth')
# else:
# env_config_file = args.env_config
# policy_config_file = args.policy_config
# if args.model_dir is not None:
# env_config_file = os.path.join(args.model_dir, os.path.basename(args.env_config))
# policy_config_file = os.path.join(args.model_dir, os.path.basename(args.policy_config))
# if args.il:
# model_weights = os.path.join(args.model_dir, 'il_model.pth')
# else:
# if os.path.exists(os.path.join(args.model_dir, 'resumed_rl_model.pth')):
# model_weights = os.path.join(args.model_dir, 'resumed_rl_model.pth')
# else:
# model_weights = os.path.join(args.model_dir, 'rl_model.pth')
# else:
# env_config_file = args.env_config
# policy_config_file = args.env_config
# configure logging and device
level = logging.DEBUG if args.debug else logging.INFO
logging.basicConfig(level=logging.INFO,
format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device(
"cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: %s', device)
# configure policy
policy_config = config.PolicyConfig(args.debug)
policy = policy_factory[policy_config.name]()
if args.planning_depth is not None:
policy_config.model_predictive_rl.do_action_clip = True
policy_config.model_predictive_rl.planning_depth = args.planning_depth
if args.planning_width is not None:
policy_config.model_predictive_rl.do_action_clip = True
policy_config.model_predictive_rl.planning_width = args.planning_width
if args.sparse_search:
policy_config.model_predictive_rl.sparse_search = True
policy.configure(policy_config)
# if policy.trainable:
# if args.model_dir is None:
# parser.error('Trainable policy must be specified with a model weights directory')
# policy.load_model(model_weights)
# # configure policy
# policy = policy_factory[args.policy]()
# policy_config = configparser.RawConfigParser()
# policy_config.read(policy_config_file)
# policy.configure(policy_config)
# if policy.trainable:
# if args.model_dir is None:
# parser.error('Trainable policy must be specified with a model weights directory')
# policy.get_model().load_state_dict(torch.load(model_weights))
step_number = start_index # index for given data
# configure environment
# env_config = config.EnvConfig(args.debug)
# if args.human_num is not None:
# env_config.sim.human_num = args.human_num
# configure environment
env_config = configparser.RawConfigParser()
env_config.read(env_config_file)
if args.human_num is not None:
env_config.sim.human_num = args.human_num
env = gym.make('CrowdSim_eth-v0')
if data_dir:
env.set_data_path(data_dir)
# pdb.set_trace()
env.configure(env_config)
# env.initialize_eth_data()
env.set_ped_traj_length(100) # 100
env.set_step_number(step_number)
if args.square:
env.test_sim = 'square_crossing'
if args.circle:
env.test_sim = 'circle_crossing'
if args.rect:
env.test_sim = 'rectangle_crossing'
robot = Robot(env_config, 'robot')
robot.set_policy(policy)
env.set_robot(robot, v_pref=robot_vel)
robot_goal_index = start_index + num_steps
if ignore_collisions:
env.set_ignore_collisions()
env.set_time_limit(time_limit)
env.set_plot_folder(plot_folder)
env.set_metrics_folder(metrics_folder)
last_removed_index, removed_traj = env.set_remove_ped(
remove_ped,
start_index=start_index,
goal_index=robot_goal_index,
set_robot_vel=True
) # sets ped to (0.0, 0.0) position and sets robot start
env.set_human_num(remove_ped)
print(f"Number of Humans: {env.human_num}")
# pdb.set_trace()
# and goal positions similar to a given
# ped
# env.set_robot_states(start=[4.3729, 4.5884], goal=[11.9214, 5.3149])
# env.set_robot_states(ped=10)
explorer = Explorer(env, robot, device, gamma=0.9)
# calc remove ped distance
# distance_list.append(env.calc_total_distance_travelled_by_ped(remove_ped))
# if env.calc_total_distance_travelled_by_ped(remove_ped) == 0.0:
# ignore_peds.append(remove_ped)
# return
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
robot.policy.safety_space = 0
else:
robot.policy.safety_space = 0
logging.info('ORCA agent buffer: %f', robot.policy.safety_space)
policy.set_env(env)
robot.print_info()
generated_traj = []
if args.visualize:
ob = env.reset(args.phase, args.test_case)
# pdb.set_trace()
done = False
last_pos = np.array(robot.get_position())
generated_traj.append(last_pos)
import time
non_attentive_humans = []
non_attentive_humans = set(non_attentive_humans)
while not done:
try:
if env.use_eth_data:
if not env.set_step_number(step_number):
done = True
except ValueError as e:
logging.warn(e)
break
time_start = time.time()
action = robot.act(ob)
time_end = time.time()
env.add_time(time_start, time_end)
env.set_human_num(remove_ped, step_number)
print(f"Number of Humans: {env.human_num}")
# logging.info("time taken to select an action: {}".format(toc-tic))
ob, _, done, info, ppl_count, robot_pose, robot_velocity, dmin = env.step(
action, non_attentive_humans)
current_pos = np.array(robot.get_position())
logging.info(
'Speed: %.2f',
np.linalg.norm(current_pos - last_pos) / robot.time_step)
last_pos = current_pos
generated_traj.append(last_pos)
step_number += 1
robot_goal_index += 1
if robot_goal_index < last_removed_index:
robot = env.set_new_robot_goal(robot, remove_ped,
robot_goal_index)
# else:
# done = True
# generated_traj = np.vstack(generated_traj)
# with open(f'{remove_ped}_{start_index}_{num_steps}_trajectory.pkl', 'wb') as file:
# pickle.dump((removed_traj, generated_traj), file)
if args.traj:
env.render('traj', args.video_file)
elif args.traj_new:
env.render(mode='traj_new',
plots=args.plot,
output_file=args.video_file,
final_file=args.final_file)
else:
env.render('video', args.video_file)
logging.info('It takes %.2f seconds to finish. Final status is %s',
env.global_time, info)
if robot.visible and info == 'reach goal':
human_times = env.get_human_times()
logging.info('Average time for humans to reach goal: %.2f',
sum(human_times) / len(human_times))
else:
explorer.run_k_episodes(env.case_size[args.phase],
args.phase,
print_failure=True)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config', type=str, default='configs/env.config')
parser.add_argument('--policy_config', type=str, default='configs/policy.config')
parser.add_argument('--policy', type=str, default='orca')
parser.add_argument('--model_file', type=str, default=None)
parser.add_argument('--result_dir', type=str, default='result')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--visualize', default=False, action='store_true')
parser.add_argument('--phase', type=str, default='test')
parser.add_argument('--num_frames', type=int, default=1)
parser.add_argument('--test_case', type=int, default=None)
parser.add_argument('--safety_space', type=float, default=0.15)
parser.add_argument('--square', default=False, action='store_true')
parser.add_argument('--circle', default=False, action='store_true')
parser.add_argument('--traj', default=False, action='store_true')
args = parser.parse_args()
policy_config_file = args.policy_config
if not os.path.exists(args.result_dir):
os.makedirs(args.result_dir)
# configure logging and device
logging.basicConfig(level=logging.INFO, format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device("cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info(' =========== TEST %s ============ ', args.policy)
logging.info('Using device: %s', device)
# configure policy
policy = policy_factory[args.policy]()
policy_config = configparser.RawConfigParser()
policy_config.read(policy_config_file)
policy.configure(policy_config)
if policy.trainable:
if args.model_file is None:
logging.warning('Trainable policy is NOT specified with a model weights directory')
else:
try:
policy.get_model().load_state_dict(torch.load(args.model_file))
logging.info('Loaded policy from %s', args.model_file)
except Exception as e:
logging.warning(e)
policy.get_model().load_state_dict(torch.load(args.model_file), strict=False)
logging.info('Loaded policy partially from %s', args.model_file)
# configure environment
env_config = configparser.RawConfigParser()
env_config.read(args.env_config)
env = gym.make('CrowdSim-v0')
env.configure(env_config)
if args.square:
env.test_sim = 'square_crossing'
if args.circle:
env.test_sim = 'circle_crossing'
robot = Robot(env_config, 'robot')
robot.set_policy(policy)
env.set_robot(robot)
# multi-frame env
if args.num_frames > 1:
logging.info("stack %d frames", args.num_frames)
env = FrameStack(env, args.num_frames)
gamma = policy_config.getfloat('rl', 'gamma')
explorer = Explorer(env, robot, device, args.num_frames, gamma=gamma)
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
# robot.policy.safety_space = 0
robot.policy.safety_space = args.safety_space
else:
# because invisible case breaks the reciprocal assumption
# adding some safety space improves ORCA performance. Tune this value based on your need.
robot.policy.safety_space = args.safety_space
logging.warning('ORCA agent buffer: %f', robot.policy.safety_space)
policy.set_env(env)
robot.print_info()
if args.visualize:
ob = env.reset(args.phase, args.test_case)
done = False
last_pos = np.array(robot.get_position())
while not done:
# retrieve frame stack
if not 'RNN' in robot.policy.name:
ob = latest_frame(ob, args.num_frames)
action = robot.act(ob)
ob, _, done, info = env.step(action)
current_pos = np.array(robot.get_position())
logging.debug('Speed: %.2f', np.linalg.norm(current_pos - last_pos) / robot.time_step)
last_pos = current_pos
output_file = os.path.join(args.result_dir, 'traj_' + str(args.test_case))
print("output_file", output_file)
if args.traj:
env.render('traj', output_file + '.png')
else:
env.render('video', output_file + '.mp4')
logging.info('It takes %.2f seconds to finish. Final status is %s', env.get_global_time(), info)
if robot.visible and info == 'reach goal':
human_times = env.get_human_times()
logging.info('Average time for humans to reach goal: %.2f', sum(human_times) / len(human_times))
else:
explorer.run_k_episodes(env.case_size[args.phase], args.phase, print_failure=False)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--env_config', type=str, default='configs/env_wall.config')
parser.add_argument('--policy_config', type=str, default='configs/policy.config')
parser.add_argument('--policy', type=str, default='ssp')
parser.add_argument('--model_dir', type=str, default=None)
parser.add_argument('--il', default=False, action='store_true')
parser.add_argument('--gpu', default=False, action='store_true')
parser.add_argument('--visualize', default=True, action='store_true')
parser.add_argument('--phase', type=str, default='test')
parser.add_argument('--test_case', type=int, default=2)
parser.add_argument('--square', default=False, action='store_true')
parser.add_argument('--circle', default=False, action='store_true')
parser.add_argument('--wall', default=False, action='store_true')
parser.add_argument('--video_file', type=str, default=True)
parser.add_argument('--traj', default=False, action='store_true')
parser.add_argument('--human_policy', type=str, default='orca')
parser.add_argument('--trained_env', type=str, default='socialforce')
args = parser.parse_args()
if args.model_dir is not None:
env_config_file = os.path.join(args.model_dir, os.path.basename(args.env_config))
policy_config_file = os.path.join(args.model_dir, os.path.basename(args.policy_config))
if args.il:
model_weights = os.path.join(args.model_dir, 'il_model.pth')
else:
if os.path.exists(os.path.join(args.model_dir, 'resumed_rl_model.pth')):
model_weights = os.path.join(args.model_dir, 'resumed_rl_model.pth')
else:
model_weights = os.path.join(args.model_dir, 'rl_model.pth')
else:
env_config_file = args.env_config
policy_config_file = args.policy_config
# configure logging and device
logging.basicConfig(level=logging.INFO, format='%(asctime)s, %(levelname)s: %(message)s',
datefmt="%Y-%m-%d %H:%M:%S")
device = torch.device("cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
# device = 'cpu'
logging.info('Using device: %s', device)
# configure policy
policy = policy_factory[args.policy]()
policy_config = configparser.RawConfigParser()
policy_config.read(policy_config_file)
policy.configure(policy_config)
if policy.trainable:
if args.model_dir is None:
parser.error('Trainable policy must be specified with a model weights directory')
policy.get_model().load_state_dict(torch.load(model_weights))
# configure environment
env_config = configparser.RawConfigParser()
env_config.read(env_config_file)
env = gym.make('CrowdSim_wall-v0')
env.configure(env_config)
if args.square:
env.test_sim = 'square_crossing'
if args.wall:
env.test_sim = 'wall_crossing'
if args.circle:
env.test_sim = 'circle_crossing'
PPL = env.human_num
robot = Robot(env_config, 'robot')
# print(robot.px)
robot.set_policy(policy)
env.set_robot(robot)
explorer = Explorer(env, robot, device, gamma=0.9)
policy.set_phase(args.phase)
policy.set_device(device)
# set safety space for ORCA in non-cooperative simulation
if isinstance(robot.policy, ORCA):
if robot.visible:
robot.policy.safety_space = 0
else:
# because invisible case breaks the reciprocal assumption
# adding some safety space improves ORCA performance. Tune this value based on your need.
robot.policy.safety_space = 0
logging.info('ORCA agent buffer: %f', robot.policy.safety_space)
ppl_local = []
frame_lst = []
agentx = []
agenty = []
ID_lst = []
frame_num = 0
robot_states = []
agent_states = pd.DataFrame(columns=["Frame", "ID", "px", "py"])
agent_vel = []
policy.set_env(env)
robot.print_info()
for case in range(args.test_case):
# if args.visualize:
ob = env.reset(test_case=case)
# ob = env.reset(args.phase, case)
done = False
last_pos = np.array(robot.get_position())
while not done:
action = robot.act(ob)
ob, _, done, info, ppl_count, robot_pose, robot_velocity, dmin, humans = env.step(action)
for j, human in enumerate(humans):
frame_lst.append(frame_num)
ID_lst.append(j+1)
agentx.append(human.px)
agenty.append(human.py)
# agent_states.append((frame_num, j+1, human.px, human.py))
# collision_count = 0
# if info == "Collision":
# # print(info)
# collision_count = 1
ppl_local.append(ppl_count)
# agent_states.append((frame_num, 0, robot_pose))
# robot_vel.append(robot_velocity)
frame_lst.append(frame_num)
ID_lst.append(0)
agentx.append(robot_pose[0])
agenty.append(robot_pose[1])
# agent_states["Frame"] = frame_num
# agent_states["ID"] = 0
# agent_states["px"] = robot_pose[0]
# agent_states["py"] = robot_pose[1]
current_pos = np.array(robot.get_position())
logging.debug('Speed: %.2f', np.linalg.norm(current_pos - last_pos) / robot.time_step)
last_pos = current_pos
frame_num += 1
#
# #
# # # # # #
if args.traj:
env.render('traj', args.video_file)
else:
env.render('video', args.video_file)
#
logging.info('It takes %.2f seconds to finish. Final status is %s', env.global_time, info)
agent_states.head(20)
if robot.visible and info == 'reach goal':
human_times = env.get_human_times()
logging.info('Average time for humans to reach goal: %.2f', sum(human_times) / len(human_times))
# logging.info('PPl counter ', ppl_local)
#
# # logging.info('PPl counter ', ppl_local)
# main = "Results/"
# human_policy = args.human_policy
# trained_env = args.trained_env
#
# if human_policy == 'socialforce':
# maindir = 'SocialForce/'
# if not os.path.exists(main+maindir):
# os.mkdir(main+maindir)
# else:
# maindir = 'ORCA/'
# if not os.path.exists(main+maindir):
# os.mkdir(main+maindir)
#
# robot_policy = args.policy
# trained_env = args.trained_env
# if robot_policy == 'ssp':
# method_dir = 'ssp/'
# if not os.path.exists(main+maindir + method_dir):
# os.mkdir(main+maindir + method_dir)
# if (robot_policy == 'model_predictive_rl'and trained_env == 'orca'):
# method_dir = 'model_predictive_rl/'
# if not os.path.exists(main+maindir + method_dir):
# os.mkdir(main+maindir + method_dir)
# if (robot_policy == 'model_predictive_rl' and trained_env == 'socialforce'):
# method_dir = 'model_predictive_rl_social/'
# if not os.path.exists(main+maindir + method_dir):
# os.mkdir(main+maindir + method_dir)
#
# if (robot_policy == 'rgl'and trained_env == 'orca'):
# method_dir = 'rgl/'
# if not os.path.exists(main+maindir + method_dir):
# os.mkdir(main+maindir + method_dir)
# if (robot_policy == 'rgl' and trained_env == 'socialforce'):
# method_dir = 'rgl_social/'
# if not os.path.exists(main+maindir + method_dir):
# os.mkdir(main+maindir + method_dir)
#
# if (robot_policy == 'sarl'and trained_env == 'orca'):
# method_dir = 'sarl/'
# if not os.path.exists(main+maindir + method_dir):
# os.mkdir(main+maindir + method_dir)
# if (robot_policy == 'sarl' and trained_env == 'socialforce'):
# method_dir = 'sarl_social/'
# if not os.path.exists(main+maindir + method_dir):
# os.mkdir(main+maindir + method_dir)
#
#
# if (robot_policy == 'cadrl'and trained_env == 'orca'):
# method_dir = 'cadrl/'
# if not os.path.exists(main+maindir + method_dir):
# os.mkdir(main+maindir + method_dir)
# if (robot_policy == 'cadrl' and trained_env == 'socialforce'):
# method_dir = 'cadrl_social/'
# if not os.path.exists(main+maindir + method_dir):
# os.mkdir(main+maindir + method_dir)
#
#
# if robot_policy == 'ssp2':
# method_dir = 'ssp2/'
# if not os.path.exists(main+maindir+method_dir):
# os.mkdir(main+maindir+method_dir)
# # elif robot_policy == 'cadrl':
# # method_dir = 'cadrl/'
# # if not os.path.exists(maindir+method_dir):
# # os.mkdir(maindir+method_dir)
# # elif robot_policy == 'sarl':
# # method_dir = 'sarl/'
# # if not os.path.exists(maindir+method_dir):
# # os.mkdir(maindir+method_dir)
# # elif robot_policy == 'lstm_rl':
# # method_dir = 'lstm_rl/'
# # if not os.path.exists(maindir+method_dir):
# # os.mkdir(maindir+method_dir)
# elif robot_policy == 'orca':
# method_dir = 'orca/'
# if not os.path.exists(main+maindir+method_dir):
# os.mkdir(main+maindir+method_dir)
#
# agent_data = pd.DataFrame()
#
agent_states['Frame'] = frame_lst
agent_states['ID'] = ID_lst
agent_states['px'] = agentx
agent_states['py'] = agenty
# agent_data['local_ppl_cnt'] = np.array(ppl_local)
# robot_data['dmin'] = np.array(dmin)
out_name = f'agent_data{case}.csv'
# if not os.path.exists(main+maindir + method_dir + f'{PPL}/'):
# os.mkdir(main+maindir + method_dir + f'{PPL}/')
# # outdir = f'{PPL}/robot_data_{PPL}/'
# if not os.path.exists(main+maindir + method_dir + f'{PPL}/robot_data_{PPL}/'):
# os.mkdir(main+maindir + method_dir + f'{PPL}/robot_data_{PPL}/')
#
# fullname = os.path.join(main+maindir + method_dir + f'{PPL}/robot_data_{PPL}/', out_name)
agent_states.to_csv(out_name, index=True)