def execute(gpu, exp_batch, exp_alias, dataset_name, suppress_output):
latest = None
try:
# We set the visible cuda devices
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
# At this point the log file with the correct naming is created.
merge_with_yaml(os.path.join('configs', exp_batch,
exp_alias + '.yaml'))
# The validation dataset is always fully loaded, so we fix a very high number of hours
g_conf.NUMBER_OF_HOURS = 10000
set_type_of_process('validation', dataset_name)
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
if suppress_output:
sys.stdout = open(os.path.join(
'_output_logs', exp_alias + '_' + g_conf.PROCESS_NAME + '_' +
str(os.getpid()) + ".out"),
"a",
buffering=1)
sys.stderr = open(os.path.join(
'_output_logs', exp_alias + '_err_' + g_conf.PROCESS_NAME +
'_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
# Define the dataset. This structure is has the __get_item__ redefined in a way
# that you can access the HDFILES positions from the root directory as a in a vector.
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
dataset_name)
augmenter = Augmenter(None)
# Definition of the dataset to be used. Preload name is just the validation data name
dataset = CoILDataset(full_dataset,
transform=augmenter,
preload_name=dataset_name)
# Creates the sampler, this part is responsible for managing the keys. It divides
# all keys depending on the measurements and produces a set of keys for each bach.
# The data loader is the multi threaded module from pytorch that release a number of
# workers to get all the data.
data_loader = torch.utils.data.DataLoader(
dataset,
batch_size=g_conf.BATCH_SIZE,
shuffle=False,
num_workers=g_conf.NUMBER_OF_LOADING_WORKERS,
pin_memory=True)
model = CoILModel(g_conf.MODEL_TYPE, g_conf.MODEL_CONFIGURATION)
# Set ERFnet for segmentation
model_erf = ERFNet(20)
model_erf = torch.nn.DataParallel(model_erf)
model_erf = model_erf.cuda()
print("LOAD ERFNet - validate")
def load_my_state_dict(
model, state_dict
): #custom function to load model when not all dict elements
own_state = model.state_dict()
for name, param in state_dict.items():
if name not in own_state:
continue
own_state[name].copy_(param)
return model
model_erf = load_my_state_dict(
model_erf,
torch.load(os.path.join('trained_models/erfnet_pretrained.pth')))
model_erf.eval()
print("ERFNet and weights LOADED successfully")
# The window used to keep track of the trainings
l1_window = []
latest = get_latest_evaluated_checkpoint()
if latest is not None: # When latest is noe
l1_window = coil_logger.recover_loss_window(dataset_name, None)
model.cuda()
best_mse = 1000
best_error = 1000
best_mse_iter = 0
best_error_iter = 0
while not maximun_checkpoint_reach(latest, g_conf.TEST_SCHEDULE):
if is_next_checkpoint_ready(g_conf.TEST_SCHEDULE):
latest = get_next_checkpoint(g_conf.TEST_SCHEDULE)
checkpoint = torch.load(
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(latest) + '.pth'))
checkpoint_iteration = checkpoint['iteration']
print("Validation loaded ", checkpoint_iteration)
model.load_state_dict(checkpoint['state_dict'])
model.eval()
accumulated_mse = 0
accumulated_error = 0
iteration_on_checkpoint = 0
for data in data_loader:
# Compute the forward pass on a batch from the validation dataset
controls = data['directions']
# Seg batch
rgbs = data['rgb']
with torch.no_grad():
outputs = model_erf(rgbs)
labels = outputs.max(1)[1].byte().cpu().data
seg_road = (labels == 0)
seg_not_road = (labels != 0)
seg = torch.stack((seg_road, seg_not_road), 1).float()
output = model.forward_branch(
torch.squeeze(seg).cuda(),
dataset.extract_inputs(data).cuda(), controls)
# output = model.foward_branch(torch.squeeze(rgbs).cuda(),
# dataset.extract_inputs(data).cuda(),controls)
# It could be either waypoints or direct control
if 'waypoint1_angle' in g_conf.TARGETS:
write_waypoints_output(checkpoint_iteration, output)
else:
write_regular_output(checkpoint_iteration, output)
mse = torch.mean(
(output - dataset.extract_targets(data).cuda()
)**2).data.tolist()
mean_error = torch.mean(
torch.abs(output -
dataset.extract_targets(data).cuda())
).data.tolist()
accumulated_error += mean_error
accumulated_mse += mse
error = torch.abs(output -
dataset.extract_targets(data).cuda())
# Log a random position
position = random.randint(0, len(output.data.tolist()) - 1)
coil_logger.add_message(
'Iterating', {
'Checkpoint':
latest,
'Iteration': (str(iteration_on_checkpoint * 120) +
'/' + str(len(dataset))),
'MeanError':
mean_error,
'MSE':
mse,
'Output':
output[position].data.tolist(),
'GroundTruth':
dataset.extract_targets(
data)[position].data.tolist(),
'Error':
error[position].data.tolist(),
'Inputs':
dataset.extract_inputs(data)
[position].data.tolist()
}, latest)
iteration_on_checkpoint += 1
print("Iteration %d on Checkpoint %d : Error %f" %
(iteration_on_checkpoint, checkpoint_iteration,
mean_error))
"""
########
Finish a round of validation, write results, wait for the next
########
"""
checkpoint_average_mse = accumulated_mse / (len(data_loader))
checkpoint_average_error = accumulated_error / (
len(data_loader))
coil_logger.add_scalar('Loss', checkpoint_average_mse, latest,
True)
coil_logger.add_scalar('Error', checkpoint_average_error,
latest, True)
if checkpoint_average_mse < best_mse:
best_mse = checkpoint_average_mse
best_mse_iter = latest
if checkpoint_average_error < best_error:
best_error = checkpoint_average_error
best_error_iter = latest
coil_logger.add_message(
'Iterating', {
'Summary': {
'Error': checkpoint_average_error,
'Loss': checkpoint_average_mse,
'BestError': best_error,
'BestMSE': best_mse,
'BestMSECheckpoint': best_mse_iter,
'BestErrorCheckpoint': best_error_iter
},
'Checkpoint': latest
}, latest)
l1_window.append(checkpoint_average_error)
coil_logger.write_on_error_csv(dataset_name,
checkpoint_average_error)
# If we are using the finish when validation stops, we check the current
if g_conf.FINISH_ON_VALIDATION_STALE is not None:
if dlib.count_steps_without_decrease(l1_window) > 3 and \
dlib.count_steps_without_decrease_robust(l1_window) > 3:
coil_logger.write_stop(dataset_name, latest)
break
else:
latest = get_latest_evaluated_checkpoint()
time.sleep(1)
coil_logger.add_message('Loading',
{'Message': 'Waiting Checkpoint'})
print("Waiting for the next Validation")
coil_logger.add_message('Finished', {})
except KeyboardInterrupt:
coil_logger.add_message('Error', {'Message': 'Killed By User'})
# We erase the output that was unfinished due to some process stop.
if latest is not None:
coil_logger.erase_csv(latest)
except RuntimeError as e:
if latest is not None:
coil_logger.erase_csv(latest)
coil_logger.add_message('Error', {'Message': str(e)})
except:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Something Happened'})
# We erase the output that was unfinished due to some process stop.
if latest is not None:
coil_logger.erase_csv(latest)
def execute(gpu, exp_batch, exp_alias, validation_dataset, suppress_output):
latest = None
try:
# We set the visible cuda devices
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
# At this point the log file with the correct naming is created.
merge_with_yaml(os.path.join('configs', exp_batch,
f'{exp_alias}.yaml'))
# The validation dataset is always fully loaded, so we fix a very high number of hours
g_conf.NUMBER_OF_HOURS = 10000
set_type_of_process(process_type='validation',
param=validation_dataset)
# Save the output to a file if so desired
if suppress_output:
save_output(exp_alias)
# Define the dataset. This structure has the __get_item__ redefined in a way
# that you can access the HDFILES positions from the root directory as a in a vector.
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
validation_dataset)
augmenter = Augmenter(None)
# Definition of the dataset to be used. Preload name is just the validation data name
dataset = CoILDataset(full_dataset,
transform=augmenter,
preload_name=validation_dataset,
process_type='validation')
# Creates the sampler, this part is responsible for managing the keys. It divides
# all keys depending on the measurements and produces a set of keys for each bach.
# The data loader is the multi threaded module from pytorch that release a number of
# workers to get all the data.
data_loader = torch.utils.data.DataLoader(
dataset,
batch_size=g_conf.BATCH_SIZE,
shuffle=False,
num_workers=g_conf.NUMBER_OF_LOADING_WORKERS,
pin_memory=True)
model = CoILModel(g_conf.MODEL_TYPE, g_conf.MODEL_CONFIGURATION,
g_conf.SENSORS).cuda()
# The window used to keep track of the trainings
l1_window = []
latest = get_latest_evaluated_checkpoint()
if latest is not None: # When latest is noe
l1_window = coil_logger.recover_loss_window(
validation_dataset, None)
# Keep track of the best loss and the iteration where it happens
best_loss = 1000
best_loss_iter = 0
print(20 * '#')
print('Starting validation!')
print(20 * '#')
# Check if the maximum checkpoint for validating has been reached
while not maximum_checkpoint_reached(latest):
# Wait until the next checkpoint is ready (assuming this is run whilst training the model)
if is_next_checkpoint_ready(g_conf.TEST_SCHEDULE):
# Get next checkpoint for validation according to the test schedule and load it
latest = get_next_checkpoint(g_conf.TEST_SCHEDULE)
checkpoint = torch.load(
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
f'{latest}.pth'))
checkpoint_iteration = checkpoint['iteration']
model.load_state_dict(checkpoint['state_dict'])
model.eval() # Turn off dropout and batchnorm (if any)
print(f"Validation loaded, checkpoint {checkpoint_iteration}")
# Main metric will be the used loss for training the network
criterion = Loss(g_conf.LOSS_FUNCTION)
checkpoint_average_loss = 0
# Counter
iteration_on_checkpoint = 0
with torch.no_grad(): # save some computation/memory
for data in data_loader:
# Compute the forward pass on a batch from the validation dataset
controls = data['directions'].cuda()
img = torch.squeeze(data['rgb']).cuda()
speed = dataset.extract_inputs(
data).cuda() # this might not always be speed
# For auxiliary metrics
output = model.forward_branch(img, speed, controls)
# For the loss function
branches = model(img, speed)
loss_function_params = {
'branches': branches,
'targets': dataset.extract_targets(data).cuda(),
'controls': controls,
'inputs': speed,
'branch_weights': g_conf.BRANCH_LOSS_WEIGHT,
'variable_weights': g_conf.VARIABLE_WEIGHT
}
# It could be either waypoints or direct control
if 'waypoint1_angle' in g_conf.TARGETS:
write_waypoints_output(checkpoint_iteration,
output)
else:
write_regular_output(checkpoint_iteration, output)
loss, _ = criterion(loss_function_params)
loss = loss.data.tolist()
# Log a random position
position = random.randint(
0,
len(output.data.tolist()) - 1)
coil_logger.add_message(
'Iterating', {
'Checkpoint':
latest,
'Iteration':
f'{iteration_on_checkpoint * g_conf.BATCH_SIZE}/{len(dataset)}',
f'Validation Loss ({g_conf.LOSS_FUNCTION})':
loss,
'Output':
output[position].data.tolist(),
'GroundTruth':
dataset.extract_targets(
data)[position].data.tolist(),
'Inputs':
dataset.extract_inputs(data)
[position].data.tolist()
}, latest)
# We get the average with a growing list of values
# Thanks to John D. Cook: http://www.johndcook.com/blog/standard_deviation/
iteration_on_checkpoint += 1
checkpoint_average_loss += (
loss -
checkpoint_average_loss) / iteration_on_checkpoint
print(
f"\rProgress: {100 * iteration_on_checkpoint * g_conf.BATCH_SIZE / len(dataset):3.4f}% - "
f"Average Loss ({g_conf.LOSS_FUNCTION}): {checkpoint_average_loss:.16f}",
end='')
"""
########
Finish a round of validation, write results, wait for the next
########
"""
coil_logger.add_scalar(
f'Validation Loss ({g_conf.LOSS_FUNCTION})',
checkpoint_average_loss, latest, True)
# Let's visualize the distribution of the loss
coil_logger.add_histogram(
f'Validation Checkpoint Loss ({g_conf.LOSS_FUNCTION})',
checkpoint_average_loss, latest)
if checkpoint_average_loss < best_loss:
best_loss = checkpoint_average_loss
best_loss_iter = latest
coil_logger.add_message(
'Iterating', {
'Summary': {
'Loss': checkpoint_average_loss,
'BestLoss': best_loss,
'BestLossCheckpoint': best_loss_iter
},
'Checkpoint': latest
}, latest)
l1_window.append(checkpoint_average_loss)
coil_logger.write_on_error_csv(validation_dataset,
checkpoint_average_loss, latest)
# If we are using the finish when validation stops, we check the current checkpoint
if g_conf.FINISH_ON_VALIDATION_STALE is not None:
if dlib.count_steps_without_decrease(l1_window) > 3 and \
dlib.count_steps_without_decrease_robust(l1_window) > 3:
coil_logger.write_stop(validation_dataset, latest)
break
else:
latest = get_latest_evaluated_checkpoint()
time.sleep(1)
coil_logger.add_message('Loading',
{'Message': 'Waiting Checkpoint'})
print("Waiting for the next Validation")
print('\n' + 20 * '#')
print('Finished validation!')
print(20 * '#')
coil_logger.add_message('Finished', {})
except KeyboardInterrupt:
coil_logger.add_message('Error', {'Message': 'Killed By User'})
# We erase the output that was unfinished due to some process stop.
if latest is not None:
coil_logger.erase_csv(latest)
except RuntimeError as e:
if latest is not None:
coil_logger.erase_csv(latest)
coil_logger.add_message('Error', {'Message': str(e)})
except:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Something Happened'})
# We erase the output that was unfinished due to some process stop.
if latest is not None:
coil_logger.erase_csv(latest)
def execute(gpu, exp_batch, exp_alias, drive_conditions, params):
"""
Main loop function. Executes driving benchmarks the specified iterations.
Args:
gpu:
exp_batch:
exp_alias:
drive_conditions:
params:
Returns:
"""
try:
print("Running ", __file__, " On GPU ", gpu, "of experiment name ",
exp_alias)
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
merge_with_yaml(os.path.join('configs', exp_batch,
exp_alias + '.yaml'))
exp_set_name, town_name = drive_conditions.split('_')
experiment_suite_module = __import__(
'drive.suites.' + camelcase_to_snakecase(exp_set_name) + '_suite',
fromlist=[exp_set_name])
experiment_suite_module = getattr(experiment_suite_module,
exp_set_name)
experiment_set = experiment_suite_module()
set_type_of_process('drive', drive_conditions)
if params['suppress_output']:
sys.stdout = open(os.path.join(
'_output_logs',
g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
sys.stderr = open(os.path.join(
'_output_logs', exp_alias + '_err_' + g_conf.PROCESS_NAME +
'_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
coil_logger.add_message(
'Loading', {'Poses': experiment_set.build_experiments()[0].poses})
if g_conf.USE_ORACLE:
control_filename = 'control_output_auto'
else:
control_filename = 'control_output'
"""
#####
Preparing the output files that will contain the driving summary
#####
"""
experiment_list = experiment_set.build_experiments()
# Get all the uniquely named tasks
task_list = unique(
[experiment.task_name for experiment in experiment_list])
# Now actually run the driving_benchmark
latest = get_latest_evaluated_checkpoint(control_filename + '_' +
task_list[0])
if latest is None: # When nothing was tested, get latest returns none, we fix that.
latest = 0
# The used tasks are hardcoded, this need to be improved
file_base = os.path.join('_logs', exp_batch, exp_alias,
g_conf.PROCESS_NAME + '_csv',
control_filename)
for i in range(len(task_list)):
# Write the header of the summary file used conclusion
# While the checkpoint is not there
write_header_control_summary(file_base, task_list[i])
"""
######
Run a single driving benchmark specified by the checkpoint were validation is stale
######
"""
if g_conf.FINISH_ON_VALIDATION_STALE is not None:
while validation_stale_point(
g_conf.FINISH_ON_VALIDATION_STALE) is None:
time.sleep(0.1)
validation_state_iteration = validation_stale_point(
g_conf.FINISH_ON_VALIDATION_STALE)
driving_benchmark(validation_state_iteration, gpu, town_name,
experiment_set, exp_batch, exp_alias, params,
control_filename, task_list)
else:
"""
#####
Main Loop , Run a benchmark for each specified checkpoint on the "Test Configuration"
#####
"""
while not maximun_checkpoint_reach(latest, g_conf.TEST_SCHEDULE):
# Get the correct checkpoint
# We check it for some task name, all of then are ready at the same time
if is_next_checkpoint_ready(
g_conf.TEST_SCHEDULE,
control_filename + '_' + task_list[0]):
latest = get_next_checkpoint(
g_conf.TEST_SCHEDULE,
control_filename + '_' + task_list[0])
driving_benchmark(latest, gpu, town_name, experiment_set,
exp_batch, exp_alias, params,
control_filename, task_list)
else:
time.sleep(0.1)
coil_logger.add_message('Finished', {})
except KeyboardInterrupt:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Killed By User'})
except:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Something happened'})
def execute(gpu, exp_batch, exp_alias, dataset_name, suppress_output):
latest = None
try:
# We set the visible cuda devices
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
# At this point the log file with the correct naming is created.
merge_with_yaml(os.path.join('configs', exp_batch,
exp_alias + '.yaml'))
# The validation dataset is always fully loaded, so we fix a very high number of hours
g_conf.NUMBER_OF_HOURS = 10000
set_type_of_process('validation', dataset_name)
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
if suppress_output:
sys.stdout = open(os.path.join(
'_output_logs', exp_alias + '_' + g_conf.PROCESS_NAME + '_' +
str(os.getpid()) + ".out"),
"a",
buffering=1)
sys.stderr = open(os.path.join(
'_output_logs', exp_alias + '_err_' + g_conf.PROCESS_NAME +
'_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
# Define the dataset.
full_dataset = [
os.path.join(os.environ["COIL_DATASET_PATH"], dataset_name)
]
augmenter = Augmenter(None)
# Definition of the dataset to be used. Preload name is just the validation data name
dataset = CoILDataset(full_dataset,
transform=augmenter,
preload_names=[dataset_name])
# The data loader is the multi threaded module from pytorch that release a number of
# workers to get all the data.
data_loader = torch.utils.data.DataLoader(
dataset,
batch_size=g_conf.BATCH_SIZE,
shuffle=False,
num_workers=g_conf.NUMBER_OF_LOADING_WORKERS,
pin_memory=True)
# Create model.
model = CoILModel(g_conf.MODEL_TYPE, g_conf.MODEL_CONFIGURATION)
# The window used to keep track of the validation loss
l1_window = []
# If we have evaluated a checkpoint, get the validation losses of all the previously
# evaluated checkpoints (validation loss is used for early stopping)
latest = get_latest_evaluated_checkpoint()
if latest is not None: # When latest is noe
l1_window = coil_logger.recover_loss_window(dataset_name, None)
model.cuda()
best_mse = 1000
best_error = 1000
best_mse_iter = 0
best_error_iter = 0
# Loop to validate all checkpoints as they are saved during training
while not maximun_checkpoint_reach(latest, g_conf.TEST_SCHEDULE):
if is_next_checkpoint_ready(g_conf.TEST_SCHEDULE):
with torch.no_grad():
# Get and load latest checkpoint
latest = get_next_checkpoint(g_conf.TEST_SCHEDULE)
checkpoint = torch.load(
os.path.join('_logs', exp_batch, exp_alias,
'checkpoints',
str(latest) + '.pth'))
checkpoint_iteration = checkpoint['iteration']
print("Validation loaded ", checkpoint_iteration)
model.load_state_dict(checkpoint['state_dict'])
model.eval()
accumulated_mse = 0
accumulated_error = 0
iteration_on_checkpoint = 0
if g_conf.USE_REPRESENTATION_LOSS:
accumulated_perception_rep_mse = 0
accumulated_speed_rep_mse = 0
accumulated_intentions_rep_mse = 0
accumulated_rep_mse = 0
accumulated_perception_rep_error = 0
accumulated_speed_rep_error = 0
accumulated_intentions_rep_error = 0
accumulated_rep_error = 0
# Validation loop
for data in data_loader:
# Compute the forward pass on a batch from the validation dataset
controls = data['directions']
# Run model forward and get outputs
# First case corresponds to squeeze network, second case corresponds to driving model without
# mimicking losses, last case corresponds to mimic network
if "seg" in g_conf.SENSORS.keys():
output = model.forward_branch(
data,
dataset.extract_inputs(data).cuda(), controls,
dataset.extract_intentions(data).cuda())
elif not g_conf.USE_REPRESENTATION_LOSS:
output = model.forward_branch(
data,
dataset.extract_inputs(data).cuda(), controls)
else:
output, intermediate_reps = model.forward_branch(
data,
dataset.extract_inputs(data).cuda(), controls)
write_regular_output(checkpoint_iteration, output)
# Compute control loss on current validation batch and accumulate it
targets_to_use = dataset.extract_targets(data)
mse = torch.mean(
(output - targets_to_use.cuda())**2).data.tolist()
mean_error = torch.mean(
torch.abs(output -
targets_to_use.cuda())).data.tolist()
accumulated_error += mean_error
accumulated_mse += mse
error = torch.abs(output - targets_to_use.cuda())
# Compute mimicking losses on current validation batch and accumulate it
if g_conf.USE_REPRESENTATION_LOSS:
expert_reps = dataset.extract_representations(data)
# First L1 losses (seg mask, speed, intention mimicking losses)
if g_conf.USE_PERCEPTION_REP_LOSS:
perception_rep_loss = torch.sum(
torch.abs(intermediate_reps[0] -
expert_reps[0].cuda())
).data.tolist() / (3 * output.shape[0])
else:
perception_rep_loss = 0
if g_conf.USE_SPEED_REP_LOSS:
speed_rep_loss = torch.sum(
torch.abs(intermediate_reps[1] -
expert_reps[1].cuda())
).data.tolist() / (3 * output.shape[0])
else:
speed_rep_loss = 0
if g_conf.USE_INTENTION_REP_LOSS:
intentions_rep_loss = torch.sum(
torch.abs(intermediate_reps[2] -
expert_reps[2].cuda())
).data.tolist() / (3 * output.shape[0])
else:
intentions_rep_loss = 0
rep_error = g_conf.REP_LOSS_WEIGHT * (
perception_rep_loss + speed_rep_loss +
intentions_rep_loss)
accumulated_perception_rep_error += perception_rep_loss
accumulated_speed_rep_error += speed_rep_loss
accumulated_intentions_rep_error += intentions_rep_loss
accumulated_rep_error += rep_error
# L2 losses now
if g_conf.USE_PERCEPTION_REP_LOSS:
perception_rep_loss = torch.sum(
(intermediate_reps[0] -
expert_reps[0].cuda())**
2).data.tolist() / (3 * output.shape[0])
else:
perception_rep_loss = 0
if g_conf.USE_SPEED_REP_LOSS:
speed_rep_loss = torch.sum(
(intermediate_reps[1] -
expert_reps[1].cuda())**
2).data.tolist() / (3 * output.shape[0])
else:
speed_rep_loss = 0
if g_conf.USE_INTENTION_REP_LOSS:
intentions_rep_loss = torch.sum(
(intermediate_reps[2] -
expert_reps[2].cuda())**
2).data.tolist() / (3 * output.shape[0])
else:
intentions_rep_loss = 0
rep_mse = g_conf.REP_LOSS_WEIGHT * (
perception_rep_loss + speed_rep_loss +
intentions_rep_loss)
accumulated_perception_rep_mse += perception_rep_loss
accumulated_speed_rep_mse += speed_rep_loss
accumulated_intentions_rep_mse += intentions_rep_loss
accumulated_rep_mse += rep_mse
# Log a random position
position = random.randint(
0,
len(output.data.tolist()) - 1)
# Logging
if g_conf.USE_REPRESENTATION_LOSS:
total_mse = mse + rep_mse
total_error = mean_error + rep_error
coil_logger.add_message(
'Iterating', {
'Checkpoint':
latest,
'Iteration':
(str(iteration_on_checkpoint * 120) + '/' +
str(len(dataset))),
'MeanError':
mean_error,
'MSE':
mse,
'RepMeanError':
rep_error,
'RepMSE':
rep_mse,
'MeanTotalError':
total_error,
'TotalMSE':
total_mse,
'Output':
output[position].data.tolist(),
'GroundTruth':
targets_to_use[position].data.tolist(),
'Error':
error[position].data.tolist(),
'Inputs':
dataset.extract_inputs(
data)[position].data.tolist()
}, latest)
else:
coil_logger.add_message(
'Iterating', {
'Checkpoint':
latest,
'Iteration':
(str(iteration_on_checkpoint * 120) + '/' +
str(len(dataset))),
'MeanError':
mean_error,
'MSE':
mse,
'Output':
output[position].data.tolist(),
'GroundTruth':
targets_to_use[position].data.tolist(),
'Error':
error[position].data.tolist(),
'Inputs':
dataset.extract_inputs(
data)[position].data.tolist()
}, latest)
iteration_on_checkpoint += 1
if g_conf.USE_REPRESENTATION_LOSS:
print("Iteration %d on Checkpoint %d : Error %f" %
(iteration_on_checkpoint,
checkpoint_iteration, total_error))
else:
print("Iteration %d on Checkpoint %d : Error %f" %
(iteration_on_checkpoint,
checkpoint_iteration, mean_error))
"""
########
Finish a round of validation, write results, wait for the next
########
"""
# Compute average L1 and L2 losses over whole round of validation and log them
checkpoint_average_mse = accumulated_mse / (
len(data_loader))
checkpoint_average_error = accumulated_error / (
len(data_loader))
coil_logger.add_scalar('L2 Loss', checkpoint_average_mse,
latest, True)
coil_logger.add_scalar('Loss', checkpoint_average_error,
latest, True)
if g_conf.USE_REPRESENTATION_LOSS:
checkpoint_average_perception_rep_mse = accumulated_perception_rep_mse / (
len(data_loader))
checkpoint_average_speed_rep_mse = accumulated_speed_rep_mse / (
len(data_loader))
checkpoint_average_intentions_rep_mse = accumulated_intentions_rep_mse / (
len(data_loader))
checkpoint_average_rep_mse = accumulated_rep_mse / (
len(data_loader))
checkpoint_average_total_mse = checkpoint_average_mse + checkpoint_average_rep_mse
checkpoint_average_perception_rep_error = accumulated_perception_rep_error / (
len(data_loader))
checkpoint_average_speed_rep_error = accumulated_speed_rep_error / (
len(data_loader))
checkpoint_average_intentions_rep_error = accumulated_intentions_rep_error / (
len(data_loader))
checkpoint_average_rep_error = accumulated_rep_error / (
len(data_loader))
checkpoint_average_total_error = checkpoint_average_error + checkpoint_average_rep_mse
# Log L1/L2 loss terms
coil_logger.add_scalar(
'Perception Rep Loss',
checkpoint_average_perception_rep_mse, latest,
True)
coil_logger.add_scalar(
'Speed Rep Loss', checkpoint_average_speed_rep_mse,
latest, True)
coil_logger.add_scalar(
'Intentions Rep Loss',
checkpoint_average_intentions_rep_mse, latest,
True)
coil_logger.add_scalar('Overall Rep Loss',
checkpoint_average_rep_mse,
latest, True)
coil_logger.add_scalar('Total L2 Loss',
checkpoint_average_total_mse,
latest, True)
coil_logger.add_scalar(
'Perception Rep Error',
checkpoint_average_perception_rep_error, latest,
True)
coil_logger.add_scalar(
'Speed Rep Error',
checkpoint_average_speed_rep_error, latest, True)
coil_logger.add_scalar(
'Intentions Rep Error',
checkpoint_average_intentions_rep_error, latest,
True)
coil_logger.add_scalar('Total Rep Error',
checkpoint_average_rep_error,
latest, True)
coil_logger.add_scalar('Total Loss',
checkpoint_average_total_error,
latest, True)
else:
checkpoint_average_total_mse = checkpoint_average_mse
checkpoint_average_total_error = checkpoint_average_error
if checkpoint_average_total_mse < best_mse:
best_mse = checkpoint_average_total_mse
best_mse_iter = latest
if checkpoint_average_total_error < best_error:
best_error = checkpoint_average_total_error
best_error_iter = latest
# Print for logging / to terminal validation results
if g_conf.USE_REPRESENTATION_LOSS:
coil_logger.add_message(
'Iterating', {
'Summary': {
'Control Error': checkpoint_average_error,
'Control Loss': checkpoint_average_mse,
'Rep Error': checkpoint_average_rep_error,
'Rep Loss': checkpoint_average_rep_mse,
'Error': checkpoint_average_total_error,
'Loss': checkpoint_average_total_mse,
'BestError': best_error,
'BestMSE': best_mse,
'BestMSECheckpoint': best_mse_iter,
'BestErrorCheckpoint': best_error_iter
},
'Checkpoint': latest
}, latest)
else:
coil_logger.add_message(
'Iterating', {
'Summary': {
'Error': checkpoint_average_error,
'Loss': checkpoint_average_mse,
'BestError': best_error,
'BestMSE': best_mse,
'BestMSECheckpoint': best_mse_iter,
'BestErrorCheckpoint': best_error_iter
},
'Checkpoint': latest
}, latest)
# Save validation loss history (validation loss is used for early stopping)
l1_window.append(checkpoint_average_total_error)
coil_logger.write_on_error_csv(
dataset_name, checkpoint_average_total_error)
# Early stopping
if g_conf.FINISH_ON_VALIDATION_STALE is not None:
if dlib.count_steps_without_decrease(l1_window) > 3 and \
dlib.count_steps_without_decrease_robust(l1_window) > 3:
coil_logger.write_stop(dataset_name, latest)
break
else:
latest = get_latest_evaluated_checkpoint()
time.sleep(1)
coil_logger.add_message('Loading',
{'Message': 'Waiting Checkpoint'})
print("Waiting for the next Validation")
coil_logger.add_message('Finished', {})
except KeyboardInterrupt:
coil_logger.add_message('Error', {'Message': 'Killed By User'})
# We erase the output that was unfinished due to some process stop.
if latest is not None:
coil_logger.erase_csv(latest)
except RuntimeError as e:
if latest is not None:
coil_logger.erase_csv(latest)
coil_logger.add_message('Error', {'Message': str(e)})
except:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Something Happened'})
# We erase the output that was unfinished due to some process stop.
if latest is not None:
coil_logger.erase_csv(latest)
def execute(gpu, exp_batch, exp_alias, dataset_name, validation_set=False):
latest = None
# We set the visible cuda devices
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
g_conf.immutable(False)
# At this point the log file with the correct naming is created.
merge_with_yaml(os.path.join('configs', exp_batch, exp_alias + '.yaml'))
# If using validation dataset, fix a very high number of hours
if validation_set:
g_conf.NUMBER_OF_HOURS = 10000
g_conf.immutable(True)
# Define the dataset.
full_dataset = [
os.path.join(os.environ["COIL_DATASET_PATH"], dataset_name)
]
augmenter = Augmenter(None)
if validation_set:
# Definition of the dataset to be used. Preload name is just the validation data name
dataset = CoILDataset(full_dataset,
transform=augmenter,
preload_names=[dataset_name])
else:
dataset = CoILDataset(full_dataset,
transform=augmenter,
preload_names=[
str(g_conf.NUMBER_OF_HOURS) + 'hours_' +
dataset_name
],
train_dataset=True)
# The data loader is the multi threaded module from pytorch that release a number of
# workers to get all the data.
data_loader = torch.utils.data.DataLoader(
dataset,
batch_size=g_conf.BATCH_SIZE,
shuffle=False,
num_workers=g_conf.NUMBER_OF_LOADING_WORKERS,
pin_memory=True)
# Define model
model = CoILModel(g_conf.MODEL_TYPE, g_conf.MODEL_CONFIGURATION)
"""
######
Run a single driving benchmark specified by the checkpoint were validation is stale
######
"""
if g_conf.FINISH_ON_VALIDATION_STALE is not None:
while validation_stale_point(
g_conf.FINISH_ON_VALIDATION_STALE) is None:
time.sleep(0.1)
validation_state_iteration = validation_stale_point(
g_conf.FINISH_ON_VALIDATION_STALE)
checkpoint = torch.load(
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(validation_state_iteration) + '.pth'))
print("Validation loaded ", validation_state_iteration)
else:
"""
#####
Main Loop , Run a benchmark for each specified checkpoint on the "Test Configuration"
#####
"""
while not maximun_checkpoint_reach(latest, g_conf.TEST_SCHEDULE):
# Get the correct checkpoint
# We check it for some task name, all of then are ready at the same time
if is_next_checkpoint_ready(g_conf.TEST_SCHEDULE,
control_filename + '_' + task_list[0]):
latest = get_next_checkpoint(
g_conf.TEST_SCHEDULE,
control_filename + '_' + task_list[0])
checkpoint = torch.load(
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(latest) + '.pth'))
print("Validation loaded ", latest)
else:
time.sleep(0.1)
# Load the model and prepare set it for evaluation
model.load_state_dict(checkpoint['state_dict'])
model.cuda()
model.eval()
first_iter = True
for data in data_loader:
# Compute the forward pass on a batch from the dataset and get the intermediate
# representations of the squeeze network
if "seg" in g_conf.SENSORS.keys():
perception_rep, speed_rep, intentions_rep = \
model.get_intermediate_representations(data,
dataset.extract_inputs(data).cuda(),
dataset.extract_intentions(data).cuda())
perception_rep = perception_rep.data.cpu()
speed_rep = speed_rep.data.cpu()
intentions_rep = intentions_rep.data.cpu()
if first_iter:
perception_rep_all = perception_rep
speed_rep_all = speed_rep
intentions_rep_all = intentions_rep
else:
perception_rep_all = torch.cat(
[perception_rep_all, perception_rep], 0)
speed_rep_all = torch.cat([speed_rep_all, speed_rep], 0)
intentions_rep_all = torch.cat(
[intentions_rep_all, intentions_rep], 0)
first_iter = False
# Save intermediate representations
perception_rep_all = perception_rep_all.tolist()
speed_rep_all = speed_rep_all.tolist()
intentions_rep_all = intentions_rep_all.tolist()
np.save(
os.path.join(
'_preloads', exp_batch + '_' + exp_alias + '_' + dataset_name +
'_representations'),
[perception_rep_all, speed_rep_all, intentions_rep_all])
def execute(gpu: list, exp_folder: str, exp_alias: str, drive_conditions: str,
suppress_output: bool, docker: str, record_collisions: bool,
no_screen: bool):
"""
Main loop function. Executes driving benchmarks the specified iterations.
Args:
:param gpu: list containing the gpus; will use gpu[0]
:param exp_folder: name where trained models are stored in _logs
:param exp_alias: name of experiment in the exp_folder
:param drive_conditions: conditions for driving; from drive/suites:
TestT1_Town01 --> test_t1_suite.py
TestT2_Town02 --> test_t2_suite.py
NocrashTraining_Town01 --> nocrash_training_suite.py
NocrashNewWeatherTown_Town02 --> nocrash_new_weather_town_suite.py
NocrashNewWeather_Town01 --> nocrash_new_weather_suite.py
NocrashNewTown_Town02 --> nocrash_new_town_suite.py
EccvTraining_Town01 --> eccv_training_suite.py
EccvGeneralization_Town02 --> eccv_generalization_suite.py
CorlTraining_Town01 --> corl_training_suite.py
CorlNewWeatherTown_Town02 --> corl_new_weather_town_suite.py
CorlNewWeather_Town01 --> corl_new_weather_suite.py
CorlNewTown_Town02 --> corl_new_town_suite.py
:param suppress_output: Save output to the '_output_logs'
:param docker: Name of the docker image
:param record_collisions:
:param no_screen:
Returns:
"""
try:
print(
f"Running {__file__} on GPU {gpu[0]} of experiment name {exp_alias}"
)
os.environ["CUDA_VISIBLE_DEVICES"] = str(gpu[0])
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
merge_with_yaml(
os.path.join('configs', exp_folder, f'{exp_alias}.yaml'))
# 'TestT1_Town01' -> 'TestT1', 'Town01'
exp_set_name, town_name = drive_conditions.split('_')
# camelcase_to_snakecase('TestT1') => test_t1 -> 'TestT1' from 'drive.suites.test_t1_suite' will be imported
experiment_suite_module = __import__(
f'drive.suites.{camelcase_to_snakecase(exp_set_name)}_suite',
fromlist=[exp_set_name])
# Load the module and an instance of it
experiment_suite_module = getattr(experiment_suite_module,
exp_set_name)
experiment_set = experiment_suite_module() # instance of TestT1
set_type_of_process('drive', drive_conditions) # drive_TestT1_Town01
if suppress_output:
sys.stdout = open(os.path.join(
'_output_logs',
g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
sys.stderr = open(os.path.join(
'_output_logs', exp_alias + '_err_' + g_conf.PROCESS_NAME +
'_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
coil_logger.add_message(
'Loading', {'Poses': experiment_set.build_experiments()[0].poses})
if g_conf.USE_ORACLE:
control_filename = 'control_output_auto'
else:
control_filename = 'control_output'
"""
#####
Preparing the output files that will contain the driving summary
#####
"""
# Build experiment from the module instance
experiment_list = experiment_set.build_experiments(
) # experiment has name '', but it is created
# Get all the uniquely named tasks
task_list = unique(
[experiment.task_name for experiment in experiment_list])
# Now actually run the driving_benchmark
latest = get_latest_evaluated_checkpoint(control_filename + '_' +
task_list[0])
if latest is None: # When nothing was tested, get latest returns none, we fix that.
latest = 0
# The used tasks are hardcoded, this need to be improved
file_base = os.path.join('_logs', exp_folder, exp_alias,
f'{g_conf.PROCESS_NAME}_csv',
control_filename)
for i in range(len(task_list)):
# Write the header of the summary file used conclusion
# While the checkpoint is not there
write_header_control_summary(file_base, task_list[i])
"""
######
Run a single driving benchmark specified by the checkpoint were validation is stale
######
"""
if g_conf.FINISH_ON_VALIDATION_STALE is not None:
while validation_stale_point(
g_conf.FINISH_ON_VALIDATION_STALE) is None:
time.sleep(0.1)
validation_state_iteration = validation_stale_point(
g_conf.FINISH_ON_VALIDATION_STALE)
driving_benchmark(validation_state_iteration, gpu, town_name,
experiment_set, exp_folder, exp_alias, docker,
control_filename, task_list)
else:
"""
#####
Main Loop , Run a benchmark for each specified checkpoint on the "Test Configuration"
#####
"""
while not maximum_checkpoint_reached(latest):
# Get the correct checkpoint
# We check it for some task name, all of then are ready at the same time
if is_next_checkpoint_ready(
g_conf.TEST_SCHEDULE,
control_filename + '_' + task_list[0]):
latest = get_next_checkpoint(
g_conf.TEST_SCHEDULE,
control_filename + '_' + task_list[0])
driving_benchmark(latest, gpu, town_name, experiment_set,
exp_folder, exp_alias, docker,
control_filename, task_list)
else:
time.sleep(0.1)
coil_logger.add_message('Finished', {})
except KeyboardInterrupt:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Killed By User'})
except:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Something happened'})