def get_generator(checkpoint):
n_units = (
[args.traj_lstm_hidden_size]
+ [int(x) for x in args.hidden_units.strip().split(",")]
+ [args.graph_lstm_hidden_size]
)
n_heads = [int(x) for x in args.heads.strip().split(",")]
model = TrajectoryGenerator(
obs_len=args.obs_len,
pred_len=args.pred_len,
traj_lstm_input_size=args.traj_lstm_input_size,
traj_lstm_hidden_size=args.traj_lstm_hidden_size,
n_units=n_units,
n_heads=n_heads,
graph_network_out_dims=args.graph_network_out_dims,
dropout=args.dropout,
alpha=args.alpha,
graph_lstm_hidden_size=args.graph_lstm_hidden_size,
noise_dim=args.noise_dim,
noise_type=args.noise_type,
)
model.load_state_dict(checkpoint["state_dict"])
model.cuda()
model.eval()
return model
def get_generator(self, checkpoint):
args = AttrDict(checkpoint['args'])
generator = TrajectoryGenerator(
obs_len=args.obs_len,
pred_len=args.pred_len,
embedding_dim=args.embedding_dim,
encoder_h_dim=args.encoder_h_dim_g,
decoder_h_dim=args.decoder_h_dim_g,
mlp_dim=args.mlp_dim,
num_layers=args.num_layers,
noise_dim=args.noise_dim,
noise_type=args.noise_type,
noise_mix_type=args.noise_mix_type,
pooling_type=args.pooling_type,
pool_every_timestep=args.pool_every_timestep,
dropout=args.dropout,
bottleneck_dim=args.bottleneck_dim,
neighborhood_size=args.neighborhood_size,
grid_size=args.grid_size,
batch_norm=args.batch_norm,
use_cuda=args.use_gpu)
generator.load_state_dict(checkpoint['g_state'])
if self.use_cuda == 1:
generator.cuda()
generator.eval()
return generator
def main():
checkpoint = torch.load(CHECKPOINT_NAME)
if MULTI_CONDITIONAL_MODEL:
generator = TrajectoryGenerator(mlp_dim=MLP_INPUT_DIM_MULTI_CONDITION,
h_dim=H_DIM_GENERATOR_MULTI_CONDITION)
speed_regressor = SpeedEncoderDecoder(
h_dim=H_DIM_GENERATOR_MULTI_CONDITION)
else:
generator = TrajectoryGenerator(mlp_dim=MLP_INPUT_DIM_SINGLE_CONDITION,
h_dim=H_DIM_GENERATOR_SINGLE_CONDITION)
speed_regressor = SpeedEncoderDecoder(
h_dim=H_DIM_GENERATOR_SINGLE_CONDITION)
generator.load_state_dict(checkpoint['g_state'])
speed_regressor.load_state_dict(checkpoint['regressor_state'])
if USE_GPU:
generator.cuda()
speed_regressor.cuda()
generator.train()
speed_regressor.train()
if MULTI_CONDITIONAL_MODEL:
test_dataset = MULTI_TEST_DATASET_PATH
else:
test_dataset = SINGLE_TEST_DATASET_PATH
print('Initializing Test dataset')
_, loader = data_loader(test_dataset, TEST_METRIC, 'test')
print('Test dataset preprocessing done')
cm, ade_final, fde_final = [], [], []
# For prediction environment, we report the metric for 20 runs
if TEST_METRIC == 1:
for _ in range(20):
ade, fde, ca = evaluate(loader, generator, NUM_SAMPLES,
speed_regressor)
cm.append(ca)
ade_final.append(ade)
fde_final.append(fde)
print(ade, fde)
print('Pred Len: {}, ADE: {:.2f}, FDE: {:.2f}'.format(
PRED_LEN, ade, fde))
print('average collision: ', sum(cm) / len(cm))
print('average ade: ', sum(ade_final) / len(ade_final))
print('average fde: ', sum(fde_final) / len(fde_final))
else:
ade, fde, ca = evaluate(loader, generator, NUM_SAMPLES,
speed_regressor)
print('Pred Len: {}, ADE: {:.2f}, FDE: {:.2f}'.format(
PRED_LEN, ade, fde))
def main():
checkpoint = torch.load(CHECKPOINT_NAME)
generator = TrajectoryGenerator()
generator.load_state_dict(checkpoint['g_state'])
if USE_GPU:
generator.cuda()
generator.train()
else:
generator.train()
dataset_name = get_dataset_name(TEST_DATASET_PATH)
_, loader = data_loader(TEST_DATASET_PATH, TEST_METRIC)
if TEST_METRIC == 1:
num_samples = 1
else:
num_samples = NUM_SAMPLES
ade, fde = evaluate(loader, generator, num_samples)
print('Dataset: {}, Pred Len: {}, ADE: {:.2f}, FDE: {:.2f}'.format(dataset_name, PRED_LEN, ade, fde))
def objective(trial):
os.environ["CUDA_VISIBLE_DEVICES"] = args.gpu_num
train_path = get_dset_path(args.dataset_name, 'train')
val_path = get_dset_path(args.dataset_name, 'val')
long_dtype, float_dtype = get_dtypes(args)
discriminator_wight = trial.suggest_categorical('discriminator_wight',
[0, 1])
optim_name = trial.suggest_categorical('optim_name',
['Adam', 'Adamax', 'RMSprop'])
# args.batch_size = trial.suggest_categorical('batch_size', [32, 64, 128])
args.dropout = trial.suggest_categorical('drop_out', [0, 0.2, 0.5])
args.batch_norm = trial.suggest_categorical('batch_norm', [0, 1])
N_TRAIN_EXAMPLES = args.batch_size * 30
N_VALID_EXAMPLES = args.batch_size * 10
logger.info("Initializing train dataset")
train_dset, train_loader = data_loader(args, train_path)
logger.info("Initializing val dataset")
_, val_loader = data_loader(args, val_path)
generator = TrajectoryGenerator(
obs_len=args.obs_len,
pred_len=args.pred_len,
embedding_dim=args.embedding_dim,
encoder_h_dim=args.encoder_h_dim_g,
decoder_h_dim=args.decoder_h_dim_g,
mlp_dim=args.mlp_dim,
num_layers=args.num_layers,
noise_dim=args.noise_dim,
noise_type=args.noise_type,
noise_mix_type=args.noise_mix_type,
pooling_type=args.pooling_type,
pool_every_timestep=args.pool_every_timestep,
dropout=args.dropout,
bottleneck_dim=args.bottleneck_dim,
neighborhood_size=args.neighborhood_size,
grid_size=args.grid_size,
batch_norm=args.batch_norm,
use_cuda=args.use_gpu)
generator.apply(init_weights)
generator.type(float_dtype).train()
logger.info('Here is the generator:')
logger.info(generator)
discriminator = TrajectoryDiscriminator(obs_len=args.obs_len,
pred_len=args.pred_len,
embedding_dim=args.embedding_dim,
h_dim=args.encoder_h_dim_d,
mlp_dim=args.mlp_dim,
num_layers=args.num_layers,
dropout=args.dropout,
batch_norm=args.batch_norm,
d_type=args.d_type,
use_cuda=args.use_gpu)
discriminator.apply(init_weights)
discriminator.type(float_dtype).train()
logger.info('Here is the discriminator:')
logger.info(discriminator)
g_loss_fn = gan_g_loss
d_loss_fn = gan_d_loss
if optim_name == 'Adam':
optimizer_g = optim.Adam([{
'params': generator.parameters(),
'initial_lr': args.g_learning_rate
}],
lr=args.g_learning_rate)
optimizer_d = optim.Adam([{
'params': discriminator.parameters(),
'initial_lr': args.d_learning_rate
}],
lr=args.d_learning_rate)
elif optim_name == 'Adamax':
optimizer_g = optim.Adamax([{
'params': generator.parameters(),
'initial_lr': args.g_learning_rate
}],
lr=args.g_learning_rate)
optimizer_d = optim.Adamax([{
'params': discriminator.parameters(),
'initial_lr': args.d_learning_rate
}],
lr=args.d_learning_rate)
else:
optimizer_g = optim.RMSprop([{
'params': generator.parameters(),
'initial_lr': args.g_learning_rate
}],
lr=args.g_learning_rate)
optimizer_d = optim.RMSprop([{
'params': discriminator.parameters(),
'initial_lr': args.d_learning_rate
}],
lr=args.d_learning_rate)
scheduler_g = optim.lr_scheduler.StepLR(optimizer_g,
step_size=100,
gamma=0.5,
last_epoch=-1)
scheduler_d = optim.lr_scheduler.StepLR(optimizer_d,
step_size=100,
gamma=0.5,
last_epoch=-1)
t, epoch = 0, 0
while t < 50:
gc.collect()
d_steps_left = args.d_steps
g_steps_left = args.g_steps
for batch_idx, batch in enumerate(train_loader):
# Limiting training utils for faster epochs.
if batch_idx * args.batch_size >= N_TRAIN_EXAMPLES:
break
# Decide whether to use the batch for stepping on discriminator or
# generator; an iteration consists of args.d_steps steps on the
# discriminator followed by args.g_steps steps on the generator.
if d_steps_left > 0:
step_type = 'd'
losses_d = discriminator_step(args, batch, generator,
discriminator, d_loss_fn,
optimizer_d)
d_steps_left -= 1
elif g_steps_left > 0:
step_type = 'g'
losses_g = generator_step(args, batch, generator,
discriminator, g_loss_fn,
optimizer_g, discriminator_wight)
g_steps_left -= 1
# Skip the rest if we are not at the end of an iteration
if d_steps_left > 0 or g_steps_left > 0:
continue
t += 1
d_steps_left = args.d_steps
g_steps_left = args.g_steps
if t >= args.num_iterations:
break
scheduler_g.step()
scheduler_d.step()
metrics_val = check_accuracy(args, val_loader, generator,
discriminator, d_loss_fn,
N_VALID_EXAMPLES)
ade = metrics_val['ade']
trial.report(ade, t)
return ade
def main(args):
global t
os.environ["CUDA_VISIBLE_DEVICES"] = args.gpu_num
train_path = get_dset_path(args.dataset_name, 'train')
val_path = get_dset_path(args.dataset_name, 'val')
long_dtype, float_dtype = get_dtypes(args)
logger.info("Initializing train dataset")
train_dset, train_loader = data_loader(args, train_path)
logger.info("Initializing val dataset")
_, val_loader = data_loader(args, val_path)
iterations_per_epoch = len(train_dset) / args.batch_size / args.d_steps
if args.num_epochs:
args.num_iterations = int(iterations_per_epoch * args.num_epochs)
logger.info(
'There are {} iterations per epoch'.format(iterations_per_epoch))
generator = TrajectoryGenerator(
obs_len=args.obs_len,
pred_len=args.pred_len,
embedding_dim=args.embedding_dim,
encoder_h_dim=args.encoder_h_dim_g,
decoder_h_dim=args.decoder_h_dim_g,
mlp_dim=args.mlp_dim,
num_layers=args.num_layers,
noise_dim=args.noise_dim,
noise_type=args.noise_type,
noise_mix_type=args.noise_mix_type,
pooling_type=args.pooling_type,
pool_every_timestep=args.pool_every_timestep,
dropout=args.dropout,
bottleneck_dim=args.bottleneck_dim,
neighborhood_size=args.neighborhood_size,
grid_size=args.grid_size,
batch_norm=args.batch_norm,
use_cuda=args.use_gpu)
generator.apply(init_weights)
generator.type(float_dtype).train()
logger.info('Here is the generator:')
logger.info(generator)
discriminator = TrajectoryDiscriminator(obs_len=args.obs_len,
pred_len=args.pred_len,
embedding_dim=args.embedding_dim,
h_dim=args.encoder_h_dim_d,
mlp_dim=args.mlp_dim,
num_layers=args.num_layers,
dropout=args.dropout,
batch_norm=args.batch_norm,
d_type=args.d_type,
use_cuda=args.use_gpu)
discriminator.apply(init_weights)
discriminator.type(float_dtype).train()
logger.info('Here is the discriminator:')
logger.info(discriminator)
g_loss_fn = gan_g_loss
d_loss_fn = gan_d_loss
# optimizer_g = optim.Adam([{'params': generator.parameters(), 'initial_lr': args.g_learning_rate}], lr=args.g_learning_rate)
# optimizer_d = optim.Adam([{'params': discriminator.parameters(), 'initial_lr': args.d_learning_rate}], lr=args.d_learning_rate)
optimizer_g = optim.Adam(params=generator.parameters(),
lr=args.g_learning_rate)
optimizer_d = optim.Adam(params=discriminator.parameters(),
lr=args.d_learning_rate)
lr_scheduler_g = ReduceLROnPlateau(optimizer_g,
threshold=1e-4,
patience=100,
factor=8e-1,
min_lr=1e-5,
verbose=True)
lr_scheduler_d = ReduceLROnPlateau(optimizer_d,
threshold=1e-4,
patience=100,
factor=8e-1,
min_lr=1e-5,
verbose=True)
# Maybe restore from checkpoint
restore_path = None
if args.checkpoint_start_from is not None:
restore_path = args.checkpoint_start_from
elif args.restore_from_checkpoint == 1:
restore_path = os.path.join(args.output_dir,
'%s_with_model.pt' % args.checkpoint_name)
if restore_path is not None and os.path.isfile(restore_path):
logger.info('Restoring from checkpoint {}'.format(restore_path))
checkpoint = torch.load(restore_path)
generator.load_state_dict(checkpoint['g_state'])
discriminator.load_state_dict(checkpoint['d_state'])
optimizer_g.load_state_dict(checkpoint['g_optim_state'])
optimizer_d.load_state_dict(checkpoint['d_optim_state'])
lr_scheduler_g.load_state_dict(checkpoint['lr_scheduler_g_state'])
lr_scheduler_d.load_state_dict(checkpoint['lr_scheduler_d_state'])
# t = checkpoint['counters']['t']
# epoch = checkpoint['counters']['epoch']
t, epoch = 0, 0
checkpoint['restore_ts'].append(t)
else:
# Starting from scratch, so initialize checkpoint dataset structure
t, epoch = 0, 0
checkpoint = {
'args': args.__dict__,
'G_losses': defaultdict(list),
'D_losses': defaultdict(list),
'losses_ts': [],
'metrics_val': defaultdict(list),
'metrics_train': defaultdict(list),
'sample_ts': [],
'restore_ts': [],
'norm_g': [],
'norm_d': [],
'counters': {
't': None,
'epoch': None,
},
'g_state': None,
'g_optim_state': None,
'd_state': None,
'd_optim_state': None,
'g_best_state': None,
'd_best_state': None,
'lr_scheduler_g_state': None,
'lr_scheduler_d_state': None,
'best_t': None,
'g_best_nl_state': None,
'd_best_state_nl': None,
'best_t_nl': None,
}
# scheduler_g = optim.lr_scheduler.StepLR(optimizer_g, step_size=1000, gamma=0.5, last_epoch=(epoch if epoch != 0 else -1))
# scheduler_d = optim.lr_scheduler.StepLR(optimizer_d, step_size=1000, gamma=0.5, last_epoch=(epoch if epoch != 0 else -1))
t0 = None
while t < args.num_iterations:
gc.collect()
d_steps_left = args.d_steps if args.discriminator_weight > 0 else 0
g_steps_left = args.g_steps
epoch += 1
logger.info('Starting epoch {}'.format(epoch))
for batch in train_loader:
if args.timing == 1:
torch.cuda.synchronize()
t1 = time.time()
# Decide whether to use the batch for stepping on discriminator or
# generator; an iteration consists of args.d_steps steps on the
# discriminator followed by args.g_steps steps on the generator.
if d_steps_left > 0:
step_type = 'd'
losses_d = discriminator_step(args, batch, generator,
discriminator, d_loss_fn,
optimizer_d)
checkpoint['norm_d'].append(
get_total_norm(discriminator.parameters()))
d_steps_left -= 1
elif g_steps_left > 0:
step_type = 'g'
losses_g = generator_step(args, batch, generator,
discriminator, g_loss_fn,
optimizer_g)
checkpoint['norm_g'].append(
get_total_norm(generator.parameters()))
g_steps_left -= 1
if args.timing == 1:
torch.cuda.synchronize()
t2 = time.time()
logger.info('{} step took {}'.format(step_type, t2 - t1))
# Skip the rest if we are not at the end of an iteration
if d_steps_left > 0 or g_steps_left > 0:
continue
if args.timing == 1:
if t0 is not None:
logger.info('Interation {} took {}'.format(
t - 1,
time.time() - t0))
t0 = time.time()
# Maybe save loss
if t % args.print_every == 0:
logger.info('t = {} / {}'.format(t + 1, args.num_iterations))
if args.discriminator_weight > 0:
for k, v in sorted(losses_d.items()):
logger.info(' [D] {}: {:.7f}'.format(k, v))
checkpoint['D_losses'][k].append(v)
for k, v in sorted(losses_g.items()):
logger.info(' [G] {}: {:.7f}'.format(k, v))
checkpoint['G_losses'][k].append(v)
checkpoint['losses_ts'].append(t)
# Maybe save a checkpoint
if t > 0 and t % args.checkpoint_every == 0:
checkpoint['counters']['t'] = t
checkpoint['counters']['epoch'] = epoch
checkpoint['sample_ts'].append(t)
# Check stats on the validation set
logger.info('Checking stats on val ...')
metrics_val = check_accuracy(args,
val_loader,
generator,
discriminator,
d_loss_fn,
lr_scheduler_g,
lr_scheduler_d,
is_train=False)
logger.info('Checking stats on train ...')
metrics_train = check_accuracy(args,
train_loader,
generator,
discriminator,
d_loss_fn,
lr_scheduler_g,
lr_scheduler_d,
limit=True,
is_train=True)
for k, v in sorted(metrics_val.items()):
logger.info(' [val] {}: {:.7f}'.format(k, v))
checkpoint['metrics_val'][k].append(v)
for k, v in sorted(metrics_train.items()):
logger.info(' [train] {}: {:.7f}'.format(k, v))
checkpoint['metrics_train'][k].append(v)
min_ade = min(checkpoint['metrics_val']['ade'])
if metrics_val['ade'] == min_ade:
logger.info('New low for avg_disp_error')
checkpoint['best_t'] = t
checkpoint['g_best_state'] = generator.state_dict()
checkpoint['d_best_state'] = discriminator.state_dict()
# Save another checkpoint with model weights and
# optimizer state
checkpoint['g_state'] = generator.state_dict()
checkpoint['g_optim_state'] = optimizer_g.state_dict()
checkpoint['lr_scheduler_g_state'] = lr_scheduler_g.state_dict(
)
checkpoint['d_state'] = discriminator.state_dict()
checkpoint['d_optim_state'] = optimizer_d.state_dict()
checkpoint['lr_scheduler_d_state'] = lr_scheduler_d.state_dict(
)
checkpoint_path = os.path.join(
args.output_dir, '%s_with_model.pt' % args.checkpoint_name)
logger.info('Saving checkpoint to {}'.format(checkpoint_path))
torch.save(checkpoint, checkpoint_path)
logger.info('Done.')
# Save a checkpoint with no model weights by making a shallow
# copy of the checkpoint excluding some items
checkpoint_path = os.path.join(
args.output_dir, '%s_no_model.pt' % args.checkpoint_name)
logger.info('Saving checkpoint to {}'.format(checkpoint_path))
key_blacklist = [
'g_state', 'g_best_state', 'g_best_nl_state',
'g_optim_state'
]
small_checkpoint = {}
for k, v in checkpoint.items():
if k not in key_blacklist:
small_checkpoint[k] = v
torch.save(small_checkpoint, checkpoint_path)
logger.info('Done.')
t += 1
d_steps_left = args.d_steps
g_steps_left = args.g_steps
if t >= args.num_iterations:
break
def main():
train_metric = 0
print("Process Started")
print("Initializing train dataset")
train_dset, train_loader = data_loader(TRAIN_DATASET_PATH, train_metric)
print("Initializing val dataset")
_, val_loader = data_loader(VAL_DATASET_PATH, train_metric)
iterations_per_epoch = len(train_dset) / BATCH / D_STEPS
if NUM_EPOCHS:
NUM_ITERATIONS = int(iterations_per_epoch * NUM_EPOCHS)
generator = TrajectoryGenerator()
generator.apply(init_weights)
if USE_GPU == 0:
generator.type(torch.FloatTensor).train()
else:
generator.type(torch.cuda.FloatTensor).train()
print('Here is the generator:')
print(generator)
discriminator = TrajectoryDiscriminator()
discriminator.apply(init_weights)
if USE_GPU == 0:
discriminator.type(torch.FloatTensor).train()
else:
discriminator.type(torch.cuda.FloatTensor).train()
print('Here is the discriminator:')
print(discriminator)
g_loss_fn = gan_g_loss
d_loss_fn = gan_d_loss
optimizer_g = optim.Adam(generator.parameters(), lr=G_LEARNING_RATE)
optimizer_d = optim.Adam(discriminator.parameters(), lr=D_LEARNING_RATE)
t, epoch = 0, 0
checkpoint = {
'G_losses': defaultdict(list),
'D_losses': defaultdict(list),
'g_state': None,
'g_optim_state': None,
'd_state': None,
'd_optim_state': None,
'g_best_state': None,
'd_best_state': None
}
ade_list, fde_list, avg_speed_error, f_speed_error = [], [], [], []
while epoch < NUM_EPOCHS:
gc.collect()
d_steps_left, g_steps_left = D_STEPS, G_STEPS
epoch += 1
print('Starting epoch {}'.format(epoch))
for batch in train_loader:
if d_steps_left > 0:
losses_d = discriminator_step(batch, generator, discriminator,
d_loss_fn, optimizer_d)
d_steps_left -= 1
elif g_steps_left > 0:
losses_g = generator_step(batch, generator, discriminator,
g_loss_fn, optimizer_g)
g_steps_left -= 1
if d_steps_left > 0 or g_steps_left > 0:
continue
if t > 0 and t % CHECKPOINT_EVERY == 0:
print('t = {} / {}'.format(t + 1, NUM_ITERATIONS))
for k, v in sorted(losses_d.items()):
print(' [D] {}: {:.3f}'.format(k, v))
for k, v in sorted(losses_g.items()):
print(' [G] {}: {:.3f}'.format(k, v))
print('Checking stats on val ...')
metrics_val = check_accuracy(val_loader, generator,
discriminator, d_loss_fn)
print('Checking stats on train ...')
metrics_train = check_accuracy(train_loader, generator,
discriminator, d_loss_fn)
for k, v in sorted(metrics_val.items()):
print(' [val] {}: {:.3f}'.format(k, v))
for k, v in sorted(metrics_train.items()):
print(' [train] {}: {:.3f}'.format(k, v))
ade_list.append(metrics_val['ade'])
fde_list.append(metrics_val['fde'])
avg_speed_error.append(metrics_val['msae'])
f_speed_error.append(metrics_val['fse'])
if metrics_val.get('ade') == min(
ade_list) or metrics_val['ade'] < min(ade_list):
print('New low for avg_disp_error')
if metrics_val.get('fde') == min(
fde_list) or metrics_val['fde'] < min(fde_list):
print('New low for final_disp_error')
if metrics_val.get('msae') == min(
avg_speed_error
) or metrics_val['msae'] < min(avg_speed_error):
print('New low for avg_speed_error')
if metrics_val.get('fse') == min(f_speed_error) or metrics_val[
'fse'] < min(f_speed_error):
print('New low for final_speed_error')
checkpoint['g_state'] = generator.state_dict()
checkpoint['g_optim_state'] = optimizer_g.state_dict()
checkpoint['d_state'] = discriminator.state_dict()
checkpoint['d_optim_state'] = optimizer_d.state_dict()
torch.save(checkpoint, CHECKPOINT_NAME)
print('Done.')
t += 1
d_steps_left = D_STEPS
g_steps_left = G_STEPS
if t >= NUM_ITERATIONS:
break
def main(args):
random.seed(args.seed)
np.random.seed(args.seed)
torch.manual_seed(args.seed)
torch.backends.cudnn.deterministic = True
torch.backends.cudnn.benchmark = False
os.environ["CUDA_VISIBLE_DEVICES"] = args.gpu_num
train_path = get_dset_path(args.dataset_name, "train")
val_path = get_dset_path(args.dataset_name, "test")
logging.info("Initializing train dataset")
train_dset, train_loader = data_loader(args, train_path)
logging.info("Initializing val dataset")
_, val_loader = data_loader(args, val_path)
writer = SummaryWriter()
n_units = ([args.traj_lstm_hidden_size] +
[int(x) for x in args.hidden_units.strip().split(",")] +
[args.graph_lstm_hidden_size])
n_heads = [int(x) for x in args.heads.strip().split(",")]
model = TrajectoryGenerator(
obs_len=args.obs_len,
pred_len=args.pred_len,
traj_lstm_input_size=args.traj_lstm_input_size,
traj_lstm_hidden_size=args.traj_lstm_hidden_size,
n_units=n_units,
n_heads=n_heads,
graph_network_out_dims=args.graph_network_out_dims,
dropout=args.dropout,
alpha=args.alpha,
graph_lstm_hidden_size=args.graph_lstm_hidden_size,
noise_dim=args.noise_dim,
noise_type=args.noise_type,
)
model.cuda()
optimizer = optim.Adam(
[
{
"params": model.traj_lstm_model.parameters(),
"lr": 1e-2
},
{
"params": model.traj_hidden2pos.parameters()
},
{
"params": model.gatencoder.parameters(),
"lr": 3e-2
},
{
"params": model.graph_lstm_model.parameters(),
"lr": 1e-2
},
{
"params": model.traj_gat_hidden2pos.parameters()
},
{
"params": model.pred_lstm_model.parameters()
},
{
"params": model.pred_hidden2pos.parameters()
},
],
lr=args.lr,
)
global best_ade
if args.resume:
if os.path.isfile(args.resume):
logging.info("Restoring from checkpoint {}".format(args.resume))
checkpoint = torch.load(args.resume)
args.start_epoch = checkpoint["epoch"]
model.load_state_dict(checkpoint["state_dict"])
logging.info("=> loaded checkpoint '{}' (epoch {})".format(
args.resume, checkpoint["epoch"]))
else:
logging.info("=> no checkpoint found at '{}'".format(args.resume))
training_step = 1
for epoch in range(args.start_epoch, args.num_epochs + 1):
if epoch < 150:
training_step = 1
elif epoch < 250:
training_step = 2
else:
if epoch == 250:
for param_group in optimizer.param_groups:
param_group["lr"] = 5e-3
training_step = 3
train(args, model, train_loader, optimizer, epoch, training_step,
writer)
if training_step == 3:
ade = validate(args, model, val_loader, epoch, writer)
is_best = ade < best_ade
best_ade = min(ade, best_ade)
save_checkpoint(
{
"epoch": epoch + 1,
"state_dict": model.state_dict(),
"best_ade": best_ade,
"optimizer": optimizer.state_dict(),
},
is_best,
f"./checkpoint/checkpoint{epoch}.pth.tar",
)
writer.close()
def main():
train_path = get_dset_path(DATASET_NAME, 'train')
val_path = get_dset_path(DATASET_NAME, 'val')
long_dtype, float_dtype = get_dtypes()
print("Initializing train dataset")
train_dset, train_loader = data_loader(train_path)
print("Initializing val dataset")
_, val_loader = data_loader(val_path)
iterations_per_epoch = len(train_dset) / D_STEPS
NUM_ITERATIONS = int(iterations_per_epoch * NUM_EPOCHS)
print('There are {} iterations per epoch'.format(iterations_per_epoch))
generator = TrajectoryGenerator()
generator.apply(init_weights)
generator.type(float_dtype).train()
print('Here is the generator:')
print(generator)
discriminator = TrajectoryDiscriminator()
discriminator.apply(init_weights)
discriminator.type(float_dtype).train()
print('Here is the discriminator:')
print(discriminator)
optimizer_g = optim.Adam(generator.parameters(), lr=G_LR)
optimizer_d = optim.Adam(discriminator.parameters(), lr=D_LR)
t, epoch = 0, 0
t0 = None
min_ade = None
while t < NUM_ITERATIONS:
gc.collect()
d_steps_left = D_STEPS
g_steps_left = G_STEPS
epoch += 1
print('Starting epoch {}'.format(epoch))
for batch in train_loader:
if d_steps_left > 0:
losses_d = discriminator_step(batch, generator, discriminator,
gan_d_loss, optimizer_d)
d_steps_left -= 1
elif g_steps_left > 0:
losses_g = generator_step(batch, generator, discriminator,
gan_g_loss, optimizer_g)
g_steps_left -= 1
if d_steps_left > 0 or g_steps_left > 0:
continue
if t % PRINT_EVERY == 0:
print('t = {} / {}'.format(t + 1, NUM_ITERATIONS))
for k, v in sorted(losses_d.items()):
print(' [D] {}: {:.3f}'.format(k, v))
for k, v in sorted(losses_g.items()):
print(' [G] {}: {:.3f}'.format(k, v))
print('Checking stats on val ...')
metrics_val = check_accuracy(val_loader, generator,
discriminator, gan_d_loss)
print('Checking stats on train ...')
metrics_train = check_accuracy(train_loader,
generator,
discriminator,
gan_d_loss,
limit=True)
for k, v in sorted(metrics_val.items()):
print(' [val] {}: {:.3f}'.format(k, v))
for k, v in sorted(metrics_train.items()):
print(' [train] {}: {:.3f}'.format(k, v))
if min_ade is None or metrics_val['ade'] < min_ade:
min_ade = metrics_val['ade']
checkpoint = {
't': t,
'g': generator.state_dict(),
'd': discriminator.state_dict(),
'g_optim': optimizer_g.state_dict(),
'd_optim': optimizer_d.state_dict()
}
print("Saving checkpoint to model.pt")
torch.save(checkpoint, "model.pt")
print("Done.")
t += 1
d_steps_left = D_STEPS
g_steps_left = G_STEPS
if t >= NUM_ITERATIONS:
break
def main():
train_metric = 0
if MULTI_CONDITIONAL_MODEL and SINGLE_CONDITIONAL_MODEL:
raise ValueError("Please select either Multi conditional model or single conditional model flag in constants.py")
print("Process Started")
if SINGLE_CONDITIONAL_MODEL:
train_path = SINGLE_TRAIN_DATASET_PATH
val_path = SINGLE_VAL_DATASET_PATH
else:
train_path = MULTI_TRAIN_DATASET_PATH
val_path = MULTI_VAL_DATASET_PATH
print("Initializing train dataset")
train_dset, train_loader = data_loader(train_path, train_metric, 'train')
print("Initializing val dataset")
_, val_loader = data_loader(val_path, train_metric, 'val')
if MULTI_CONDITIONAL_MODEL:
iterations_per_epoch = len(train_dset) / BATCH_MULTI_CONDITION / D_STEPS
NUM_ITERATIONS = int(iterations_per_epoch * NUM_EPOCHS_MULTI_CONDITION)
generator = TrajectoryGenerator(mlp_dim=MLP_INPUT_DIM_MULTI_CONDITION,
h_dim=H_DIM_GENERATOR_MULTI_CONDITION)
discriminator = TrajectoryDiscriminator(mlp_dim=MLP_INPUT_DIM_MULTI_CONDITION,
h_dim=H_DIM_DISCRIMINATOR_MULTI_CONDITION)
speed_regressor = SpeedEncoderDecoder(h_dim=H_DIM_GENERATOR_MULTI_CONDITION)
required_epoch = NUM_EPOCHS_MULTI_CONDITION
elif SINGLE_CONDITIONAL_MODEL:
iterations_per_epoch = len(train_dset) / BATCH_SINGLE_CONDITION / D_STEPS
NUM_ITERATIONS = int(iterations_per_epoch * NUM_EPOCHS_SINGLE_CONDITION)
generator = TrajectoryGenerator(mlp_dim=MLP_INPUT_DIM_SINGLE_CONDITION,
h_dim=H_DIM_GENERATOR_SINGLE_CONDITION)
discriminator = TrajectoryDiscriminator(mlp_dim=MLP_INPUT_DIM_SINGLE_CONDITION,
h_dim=H_DIM_DISCRIMINATOR_SINGLE_CONDITION)
speed_regressor = SpeedEncoderDecoder(h_dim=H_DIM_GENERATOR_SINGLE_CONDITION)
required_epoch = NUM_EPOCHS_SINGLE_CONDITION
print(iterations_per_epoch)
generator.apply(init_weights)
if USE_GPU:
generator.type(torch.cuda.FloatTensor).train()
else:
generator.type(torch.FloatTensor).train()
print('Here is the generator:')
print(generator)
discriminator.apply(init_weights)
if USE_GPU:
discriminator.type(torch.cuda.FloatTensor).train()
else:
discriminator.type(torch.FloatTensor).train()
print('Here is the discriminator:')
print(discriminator)
speed_regressor.apply(init_weights)
if USE_GPU:
speed_regressor.type(torch.cuda.FloatTensor).train()
else:
speed_regressor.type(torch.FloatTensor).train()
print('Here is the Speed Regressor:')
print(speed_regressor)
g_loss_fn = gan_g_loss
d_loss_fn = gan_d_loss
optimizer_g = optim.Adam(generator.parameters(), lr=G_LEARNING_RATE)
optimizer_d = optim.Adam(discriminator.parameters(), lr=D_LEARNING_RATE)
optimizer_speed_regressor = optim.Adam(speed_regressor.parameters(), lr=D_LEARNING_RATE)
t, epoch = 0, 0
checkpoint = {
'G_losses': defaultdict(list),
'D_losses': defaultdict(list),
'g_state': None,
'g_optim_state': None,
'd_state': None,
'd_optim_state': None,
'g_best_state': None,
'd_best_state': None,
'best_regressor_state': None,
'regressor_state': None
}
val_ade_list, val_fde_list, train_ade, train_fde, train_avg_speed_error, val_avg_speed_error, val_msae_list = [], [], [], [], [], [], []
train_ade_list, train_fde_list = [], []
while epoch < required_epoch:
gc.collect()
d_steps_left, g_steps_left, speed_regression_steps_left = D_STEPS, G_STEPS, SR_STEPS
epoch += 1
print('Starting epoch {}'.format(epoch))
disc_loss, gent_loss, sr_loss = [], [], []
for batch in train_loader:
if d_steps_left > 0:
losses_d = discriminator_step(batch, generator, discriminator, d_loss_fn, optimizer_d)
disc_loss.append(losses_d['D_total_loss'])
d_steps_left -= 1
elif g_steps_left > 0:
losses_g = generator_step(batch, generator, discriminator, g_loss_fn, optimizer_g)
speed_regression_loss = speed_regressor_step(batch, generator, speed_regressor, optimizer_speed_regressor)
losses_g['Speed_Regression_Loss'] = speed_regression_loss['Speed_Regression_Loss']
sr_loss.append(speed_regression_loss['Speed_Regression_Loss'])
gent_loss.append(losses_g['G_discriminator_loss'])
g_steps_left -= 1
if d_steps_left > 0 or g_steps_left > 0:
continue
if t > 0 and t % CHECKPOINT_EVERY == 0:
print('t = {} / {}'.format(t + 1, NUM_ITERATIONS))
for k, v in sorted(losses_d.items()):
print(' [D] {}: {:.3f}'.format(k, v))
for k, v in sorted(losses_g.items()):
print(' [G] {}: {:.3f}'.format(k, v))
print('Checking stats on val ...')
metrics_val = check_accuracy(val_loader, generator, discriminator, d_loss_fn, speed_regressor)
print('Checking stats on train ...')
metrics_train = check_accuracy(train_loader, generator, discriminator, d_loss_fn, speed_regressor)
for k, v in sorted(metrics_val.items()):
print(' [val] {}: {:.3f}'.format(k, v))
for k, v in sorted(metrics_train.items()):
print(' [train] {}: {:.3f}'.format(k, v))
val_ade_list.append(metrics_val['ade'])
val_fde_list.append(metrics_val['fde'])
train_ade_list.append(metrics_train['ade'])
train_fde_list.append(metrics_train['fde'])
if metrics_val.get('ade') == min(val_ade_list) or metrics_val['ade'] < min(val_ade_list) or metrics_val.get('fde') == min(val_fde_list) or metrics_val['fde'] < min(val_fde_list):
checkpoint['g_best_state'] = generator.state_dict()
if metrics_val.get('ade') == min(val_ade_list) or metrics_val['ade'] < min(val_ade_list):
print('New low for avg_disp_error')
checkpoint['best_g_state'] = generator.state_dict()
if metrics_val.get('fde') == min(val_fde_list) or metrics_val['fde'] < min(val_fde_list):
print('New low for final_disp_error')
checkpoint['g_state'] = generator.state_dict()
checkpoint['g_optim_state'] = optimizer_g.state_dict()
checkpoint['d_state'] = discriminator.state_dict()
checkpoint['d_optim_state'] = optimizer_d.state_dict()
checkpoint['regressor_state'] = speed_regressor.state_dict()
torch.save(checkpoint, CHECKPOINT_NAME)
print('Done.')
t += 1
d_steps_left = D_STEPS
g_steps_left = G_STEPS
if t >= NUM_ITERATIONS:
break
pred_traj_fake = relative_to_abs(pred_traj_fake_rel, obs_traj[-1, :, 0, :])
ade.append(displacement_error(pred_traj_fake, pred_traj_gt, mode='raw'))
fde.append(final_displacement_error(pred_traj_fake[-1], pred_traj_gt[-1], mode='raw'))
ade_sum = evaluate_helper(ade)
fde_sum = evaluate_helper(fde)
ade_outer.append(ade_sum)
fde_outer.append(fde_sum)
ade = sum(ade_outer) / (total_traj * PRED_LEN)
fde = sum(fde_outer) / (total_traj)
return ade, fde
def load_and_evaluate(generator, version):
print("Initializing {} dataset".format(version))
path = get_dset_path(DATASET_NAME, version)
_, loader = data_loader(path)
ade, fde = evaluate(loader, generator)
print('{} Dataset: {}, Pred Len: {}, ADE: {:.2f}, FDE: {:.2f}'.format(version, DATASET_NAME, PRED_LEN, ade, fde))
model = torch.load("model.pt")
generator = TrajectoryGenerator()
generator.load_state_dict(model['g'])
generator.cuda()
generator.eval()
load_and_evaluate(generator, 'train')
load_and_evaluate(generator, 'val')
load_and_evaluate(generator, 'test')