def collect(egoids, args, exp_dir, use_hgail, params_filename, n_proc, collect_fn=parallel_collect_trajectories, random_seed=None, lbd=0.99, adapt_steps=1): ''' Description: - prepare for running collection in parallel - multiagent note: egoids and starts are not currently used when running this with args.env_multiagent == True ''' # load information relevant to the experiment params_filepath = os.path.join(exp_dir, 'imitate/{}'.format(params_filename)) params = np.load(params_filepath)['params'].item() # validation setup validation_dir = os.path.join(exp_dir, 'imitate', 'test') utils.maybe_mkdir(validation_dir) with Timer(): error = collect_fn(args, params, egoids, n_proc, use_hgail=use_hgail, random_seed=random_seed, lbd=lbd, adapt_steps=adapt_steps) return error
def collect(egoids, starts, args, exp_dir, use_hgail, params_filename, n_proc, max_steps=200, collect_fn=parallel_collect_trajectories, random_seed=None, use_bc=True): ''' Description: - prepare for running collection in parallel - multiagent note: egoids and starts are not currently used when running this with args.env_multiagent == True ''' # load information relevant to the experiment params_filepath = os.path.join('../../data/experiments/single_mlp/', 'imitate/log/{}'.format(params_filename)) params = hgail.misc.utils.load_params(params_filepath) # validation setup validation_dir = os.path.join(exp_dir, 'imitate', 'validation') utils.maybe_mkdir(validation_dir) if not use_bc: output_filepath = os.path.join( validation_dir, '{}_trajectories.npz'.format(args.ngsim_filename.split('.')[0])) else: output_filepath = os.path.join( validation_dir, '{}_trajectories.npz'.format(args.ngsim_filename.split('.')[0])) with Timer(): trajs = collect_fn(args, params, egoids, starts, n_proc, max_steps=max_steps, use_hgail=use_hgail, random_seed=random_seed, use_bc=use_bc) utils.write_trajectories(output_filepath, trajs)
def collect(egoids, starts, args, exp_dir, use_hgail, params_filename, n_proc, max_steps=200, collect_fn=parallel_collect_trajectories, random_seed=None, lbd=0.99, adapt_steps=1): ''' Description: - prepare for running collection in parallel - multiagent note: egoids and starts are not currently used when running this with args.env_multiagent == True ''' # load information relevant to the experiment params_filepath = os.path.join(exp_dir, 'imitate/{}'.format(params_filename)) params = hgail.misc.utils.load_params(params_filepath) # validation setup validation_dir = os.path.join(exp_dir, 'imitate', 'test') utils.maybe_mkdir(validation_dir) output_filepath = os.path.join( validation_dir, '{}_AGen_{}_{}.npz'.format( args.ngsim_filename.split('.')[0], adapt_steps, args.env_multiagent)) with Timer(): error = collect_fn(args, params, egoids, starts, n_proc, max_steps=max_steps, use_hgail=use_hgail, random_seed=random_seed, lbd=lbd, adapt_steps=adapt_steps) print("Vehicle Counter: {}".format(Veh_counter)) return error