def execute(gpu, exp_batch, exp_alias, dataset_name, suppress_output=True, yaml_file=None):
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.
path_to_yaml_file = os.path.join('configs', exp_batch, exp_alias+'.yaml')
if yaml_file is not None:
path_to_yaml_file = os.path.join(yaml_file, exp_alias+'.yaml')
merge_with_yaml(path_to_yaml_file)
# The validation dataset is always fully loaded, so we fix a very high number of hours
# g_conf.NUMBER_OF_HOURS = 10000 # removed to simplify code
"""
# check again if this segment is required or not
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.
dataset_name = dataset_name.split('_')[-1] # since preload file has '<X>hours_' as prefix whereas dataset folder does not
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"], dataset_name) # original code
augmenter = Augmenter(None)
print ('full dataset path: ', full_dataset)
dataset = CoILDataset(full_dataset, transform=augmenter, preload_name=args.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)
model = CoILModel(g_conf.MODEL_TYPE, g_conf.MODEL_CONFIGURATION)
""" removing this segment to simplify code
# 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
# modified validation code from here to run a single model
checkpoint = torch.load(args.checkpoint)
checkpoint_iteration = checkpoint['iteration']
print("model loaded ", checkpoint_iteration)
model.load_state_dict(checkpoint['state_dict'])
model.eval()
accumulated_mse = 0
accumulated_error = 0
iteration_on_checkpoint = 0
print ('data_loader size: ', len(data_loader))
total_error = []
for data in data_loader:
# Compute the forward pass on a batch from the loaded dataset
controls = data['directions']
branches = model(torch.squeeze(data['rgb'].cuda()),
dataset.extract_inputs(data).cuda())
output = model.extract_branch(torch.stack(branches[0:4]), controls)
error = torch.abs(output - dataset.extract_targets(data).cuda())
total_error += error.detach().cpu().tolist()
iteration_on_checkpoint += 1
if iteration_on_checkpoint % 50 == 0:
print ('iteration: ', iteration_on_checkpoint)
total_error = np.array(total_error)
print (len(total_error), total_error.shape)
np.save(os.path.join(args.save_path, args.dataset_name, 'computed_error.npy'), total_error)
'''
def execute(gpu, exp_batch, exp_alias, suppress_output=True, number_of_workers=12):
"""
The main training function. This functions loads the latest checkpoint
for a given, exp_batch (folder) and exp_alias (experiment configuration).
With this checkpoint it starts from the beginning or continue some training.
Args:
gpu: The GPU number
exp_batch: the folder with the experiments
exp_alias: the alias, experiment name
suppress_output: if the output are going to be saved on a file
number_of_workers: the number of threads used for data loading
Returns:
None
"""
try:
# We set the visible cuda devices to select the GPU
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
g_conf.VARIABLE_WEIGHT = {}
# At this point the log file with the correct naming is created.
# You merge the yaml file with the global configuration structure.
merge_with_yaml(os.path.join('configs', exp_batch, exp_alias + '.yaml'))
set_type_of_process('train')
# Set the process into loading status.
coil_logger.add_message('Loading', {'GPU': gpu})
# Put the output to a separate file if it is the case
if suppress_output:
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
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)
if coil_logger.check_finish('train'):
coil_logger.add_message('Finished', {})
return
# Preload option
if g_conf.PRELOAD_MODEL_ALIAS is not None:
checkpoint = torch.load(os.path.join('_logs', g_conf.PRELOAD_MODEL_BATCH,
g_conf.PRELOAD_MODEL_ALIAS,
'checkpoints',
str(g_conf.PRELOAD_MODEL_CHECKPOINT)+'.pth'))
# Get the latest checkpoint to be loaded
# returns none if there are no checkpoints saved for this model
checkpoint_file = get_latest_saved_checkpoint()
if checkpoint_file is not None:
checkpoint = torch.load(os.path.join('_logs', exp_batch, exp_alias,
'checkpoints', str(get_latest_saved_checkpoint())))
iteration = checkpoint['iteration']
best_loss = checkpoint['best_loss']
best_loss_iter = checkpoint['best_loss_iter']
else:
iteration = 0
best_loss = 10000.0
best_loss_iter = 0
# Define the dataset. This structure is has the __get_item__ redefined in a way
# that you can access the positions from the root directory as a in a vector.
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"], g_conf.TRAIN_DATASET_NAME)
# By instantiating the augmenter we get a callable that augment images and transform them
# into tensors.
augmenter = Augmenter(g_conf.AUGMENTATION)
# Instantiate the class used to read a dataset. The coil dataset generator
# can be found
dataset = CoILDataset(full_dataset, transform=augmenter,
preload_name=str(g_conf.NUMBER_OF_HOURS)
+ 'hours_' + g_conf.TRAIN_DATASET_NAME)
print ("Loaded dataset")
data_loader = select_balancing_strategy(dataset, iteration, number_of_workers)
model = CoILModel(g_conf.MODEL_TYPE, g_conf.MODEL_CONFIGURATION)
model.cuda()
optimizer = optim.Adam(model.parameters(), lr=g_conf.LEARNING_RATE)
# Set ERFnet for segmentation
model_erf = ERFNet(20)
model_erf = torch.nn.DataParallel(model_erf)
model_erf = model_erf.cuda()
print("LOAD ERFNet")
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")
if checkpoint_file is not None or g_conf.PRELOAD_MODEL_ALIAS is not None:
model.load_state_dict(checkpoint['state_dict'])
optimizer.load_state_dict(checkpoint['optimizer'])
accumulated_time = checkpoint['total_time']
loss_window = coil_logger.recover_loss_window('train', iteration)
else: # We accumulate iteration time and keep the average speed
accumulated_time = 0
loss_window = []
print ("Before the loss")
criterion = Loss(g_conf.LOSS_FUNCTION)
# Loss time series window
for data in data_loader:
# Basically in this mode of execution, we validate every X Steps, if it goes up 3 times,
# add a stop on the _logs folder that is going to be read by this process
if g_conf.FINISH_ON_VALIDATION_STALE is not None and \
check_loss_validation_stopped(iteration, g_conf.FINISH_ON_VALIDATION_STALE):
break
"""
####################################
Main optimization loop
####################################
"""
iteration += 1
if iteration % 1000 == 0:
adjust_learning_rate_auto(optimizer, loss_window)
# get the control commands from float_data, size = [120,1]
capture_time = time.time()
controls = data['directions']
# The output(branches) is a list of 5 branches results, each branch is with size [120,3]
model.zero_grad()
# print("Segmentation")
# use ERFNet to convert RGB to Segmentation
rgbs = data['rgb']
filenames = data['rgb_name']
# # seg one by one
# seg_road = []
# seg_not_road = []
# i = 0
# for inputs in rgbs:
# inputs = inputs.unsqueeze(0)
# # print("inputs ",inputs.shape)
# with torch.no_grad():
# outputs = model_erf(inputs)
# label = outputs[0].max(0)[1].byte().cpu().data
# road = (label == 0)
# not_road = (label != 0)
# seg_road.append(road)
# seg_not_road.append(not_road)
# # # print("label ",label.shape)
# # label_color = Colorize()(label.unsqueeze(0))
# # filename = filenames[i]
# # filenameSave = "./save_color/" + filename.split("CoILTrain/")[1]
# # os.makedirs(os.path.dirname(filenameSave), exist_ok=True)
# # label_save = ToPILImage()(label_color)
# # label_save.save(filenameSave)
# # # print (i, filenameSave)
# # i += 1
# seg_road = torch.stack(seg_road)
# seg_not_road = torch.stack(seg_not_road)
# seg = torch.stack([seg_road,seg_not_road]).transpose(0,1).float()
# # print(seg.shape)
# seg batch
with torch.no_grad():
outputs = model_erf(rgbs)
# print("outputs.shape ",outputs.shape)
labels = outputs.max(1)[1].byte().cpu().data
# print("labels.shape",labels.shape)
# print(np.unique(labels[0]))
seg_road = (labels==0)
seg_not_road = (labels!=0)
seg = torch.stack((seg_road,seg_not_road),1).float()
# save 1st batch's segmentation results
if iteration == 1:
for i in range(120):
label = seg[i,0,:,:]
label_color = Colorize()(label.unsqueeze(0))
filenameSave = "./save_color/batch_road_mask/%d.png"%(i)
os.makedirs(os.path.dirname(filenameSave), exist_ok=True)
label_save = ToPILImage()(label_color)
label_save.save(filenameSave)
label = labels[i,:,:]
label_color = Colorize()(label.unsqueeze(0))
filenameSave = "./save_color/batch_road/%d.png"%(i)
os.makedirs(os.path.dirname(filenameSave), exist_ok=True)
label_save = ToPILImage()(label_color)
label_save.save(filenameSave)
branches = model(torch.squeeze(seg).cuda(),
dataset.extract_inputs(data).cuda())
# branches = model(torch.squeeze(rgbs.cuda()),
# dataset.extract_input(data).cuda())
loss_function_params = {
'branches': branches,
'targets': dataset.extract_targets(data).cuda(),
'controls': controls.cuda(),
'inputs': dataset.extract_inputs(data).cuda(),
'branch_weights': g_conf.BRANCH_LOSS_WEIGHT,
'variable_weights': g_conf.VARIABLE_WEIGHT
}
loss, _ = criterion(loss_function_params)
loss.backward()
optimizer.step()
"""
####################################
Saving the model if necessary
####################################
"""
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'state_dict': model.state_dict(),
'best_loss': best_loss,
'total_time': accumulated_time,
'optimizer': optimizer.state_dict(),
'best_loss_iter': best_loss_iter
}
torch.save(state, os.path.join('_logs', exp_batch, exp_alias
, 'checkpoints', str(iteration) + '.pth'))
"""
################################################
Adding tensorboard logs.
Making calculations for logging purposes.
These logs are monitored by the printer module.
#################################################
"""
coil_logger.add_scalar('Loss', loss.data, iteration)
coil_logger.add_image('Image', torch.squeeze(data['rgb']), iteration)
if loss.data < best_loss:
best_loss = loss.data.tolist()
best_loss_iter = iteration
# Log a random position
position = random.randint(0, len(data) - 1)
output = model.extract_branch(torch.stack(branches[0:4]), controls)
error = torch.abs(output - dataset.extract_targets(data).cuda())
accumulated_time += time.time() - capture_time
coil_logger.add_message('Iterating',
{'Iteration': iteration,
'Loss': loss.data.tolist(),
'Images/s': (iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLoss': best_loss, 'BestLossIteration': best_loss_iter,
'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()},
iteration)
loss_window.append(loss.data.tolist())
coil_logger.write_on_error_csv('train', loss.data)
print("Iteration: %d Loss: %f" % (iteration, loss.data))
coil_logger.add_message('Finished', {})
except KeyboardInterrupt:
coil_logger.add_message('Error', {'Message': 'Killed By User'})
except RuntimeError as e:
coil_logger.add_message('Error', {'Message': str(e)})
except:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Something Happened'})
def execute(gpu, exp_batch, exp_alias, suppress_output=True, number_of_workers=12):
"""
The main training function. This functions loads the latest checkpoint
for a given, exp_batch (folder) and exp_alias (experiment configuration).
With this checkpoint it starts from the beginning or continue some training.
Args:
gpu: The GPU number
exp_batch: the folder with the experiments
exp_alias: the alias, experiment name
suppress_output: if the output are going to be saved on a file
number_of_workers: the number of threads used for data loading
Returns:
None
"""
try:
# We set the visible cuda devices to select the GPU
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
g_conf.VARIABLE_WEIGHT = {}
# At this point the log file with the correct naming is created.
# You merge the yaml file with the global configuration structure.
merge_with_yaml(os.path.join('configs', exp_batch, exp_alias + '.yaml'))
set_type_of_process('train')
# Set the process into loading status.
coil_logger.add_message('Loading', {'GPU': gpu})
# Put the output to a separate file if it is the case
if suppress_output:
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
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)
# Preload option
if g_conf.PRELOAD_MODEL_ALIAS is not None:
checkpoint = torch.load(os.path.join('_logs', g_conf.PRELOAD_MODEL_BATCH,
g_conf.PRELOAD_MODEL_ALIAS,
'checkpoints',
str(g_conf.PRELOAD_MODEL_CHECKPOINT)+'.pth'))
# Get the latest checkpoint to be loaded
# returns none if there are no checkpoints saved for this model
checkpoint_file = get_latest_saved_checkpoint()
if checkpoint_file is not None:
checkpoint = torch.load(os.path.join('_logs', exp_batch, exp_alias,
'checkpoints', str(get_latest_saved_checkpoint())))
iteration = checkpoint['iteration']
best_loss = checkpoint['best_loss']
best_loss_iter = checkpoint['best_loss_iter']
else:
iteration = 0
best_loss = 10000.0
best_loss_iter = 0
# Define the dataset. This structure is has the __get_item__ redefined in a way
# that you can access the positions from the root directory as a in a vector.
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"], g_conf.TRAIN_DATASET_NAME)
# By instantiating the augmenter we get a callable that augment images and transform them
# into tensors.
augmenter = Augmenter(g_conf.AUGMENTATION)
# Instantiate the class used to read a dataset. The coil dataset generator
# can be found
dataset = CoILDataset(full_dataset, transform=augmenter,
preload_name=str(g_conf.NUMBER_OF_HOURS)
+ 'hours_' + g_conf.TRAIN_DATASET_NAME)
print ("Loaded dataset")
data_loader = select_balancing_strategy(dataset, iteration, number_of_workers)
model = CoILModel(g_conf.MODEL_TYPE, g_conf.MODEL_CONFIGURATION)
model.cuda()
optimizer = optim.Adam(model.parameters(), lr=g_conf.LEARNING_RATE)
if checkpoint_file is not None or g_conf.PRELOAD_MODEL_ALIAS is not None:
model.load_state_dict(checkpoint['state_dict'])
optimizer.load_state_dict(checkpoint['optimizer'])
accumulated_time = checkpoint['total_time']
loss_window = coil_logger.recover_loss_window('train', iteration)
else: # We accumulate iteration time and keep the average speed
accumulated_time = 0
loss_window = []
print ("Before the loss")
criterion = Loss(g_conf.LOSS_FUNCTION)
# Loss time series window
for data in data_loader:
# Basically in this mode of execution, we validate every X Steps, if it goes up 3 times,
# add a stop on the _logs folder that is going to be read by this process
if g_conf.FINISH_ON_VALIDATION_STALE is not None and \
check_loss_validation_stopped(iteration, g_conf.FINISH_ON_VALIDATION_STALE):
break
"""
####################################
Main optimization loop
####################################
"""
iteration += 1
if iteration % 1000 == 0:
adjust_learning_rate_auto(optimizer, loss_window)
# get the control commands from float_data, size = [120,1]
capture_time = time.time()
controls = data['directions']
# The output(branches) is a list of 5 branches results, each branch is with size [120,3]
model.zero_grad()
branches = model(torch.squeeze(data['rgb'].cuda()),
dataset.extract_inputs(data).cuda())
loss_function_params = {
'branches': branches,
'targets': dataset.extract_targets(data).cuda(),
'controls': controls.cuda(),
'inputs': dataset.extract_inputs(data).cuda(),
'branch_weights': g_conf.BRANCH_LOSS_WEIGHT,
'variable_weights': g_conf.VARIABLE_WEIGHT
}
loss, _ = criterion(loss_function_params)
loss.backward()
optimizer.step()
"""
####################################
Saving the model if necessary
####################################
"""
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'state_dict': model.state_dict(),
'best_loss': best_loss,
'total_time': accumulated_time,
'optimizer': optimizer.state_dict(),
'best_loss_iter': best_loss_iter
}
torch.save(state, os.path.join('_logs', exp_batch, exp_alias
, 'checkpoints', str(iteration) + '.pth'))
"""
################################################
Adding tensorboard logs.
Making calculations for logging purposes.
These logs are monitored by the printer module.
#################################################
"""
coil_logger.add_scalar('Loss', loss.data, iteration)
coil_logger.add_image('Image', torch.squeeze(data['rgb']), iteration)
if loss.data < best_loss:
best_loss = loss.data.tolist()
best_loss_iter = iteration
# Log a random position
position = random.randint(0, len(data) - 1)
output = model.extract_branch(torch.stack(branches[0:4]), controls)
error = torch.abs(output - dataset.extract_targets(data).cuda())
accumulated_time += time.time() - capture_time
coil_logger.add_message('Iterating',
{'Iteration': iteration,
'Loss': loss.data.tolist(),
'Images/s': (iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLoss': best_loss, 'BestLossIteration': best_loss_iter,
'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()},
iteration)
loss_window.append(loss.data.tolist())
coil_logger.write_on_error_csv('train', loss.data)
print("Iteration: %d Loss: %f" % (iteration, loss.data))
coil_logger.add_message('Finished', {})
except KeyboardInterrupt:
coil_logger.add_message('Error', {'Message': 'Killed By User'})
except RuntimeError as e:
coil_logger.add_message('Error', {'Message': str(e)})
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):
from time import gmtime, strftime
manualSeed = g_conf.SEED
torch.cuda.manual_seed(manualSeed)
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
merge_with_yaml(os.path.join('configs', exp_batch, exp_alias + '.yaml'))
set_type_of_process('train')
coil_logger.add_message('Loading', {'GPU': gpu})
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
sys.stdout = open(os.path.join(
'_output_logs', g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
if monitorer.get_status(exp_batch, exp_alias + '.yaml',
g_conf.PROCESS_NAME)[0] == "Finished":
return
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
g_conf.TRAIN_DATASET_NAME)
real_dataset = g_conf.TARGET_DOMAIN_PATH
# real_dataset = os.path.join(os.environ["COIL_DATASET_PATH"], "FinalRealWorldDataset")
#main data loader
dataset = CoILDataset(full_dataset,
real_dataset,
transform=transforms.Compose([transforms.ToTensor()
]))
sampler = BatchSequenceSampler(
splitter.control_steer_split(dataset.measurements,
dataset.meta_data), g_conf.BATCH_SIZE,
g_conf.NUMBER_IMAGES_SEQUENCE, g_conf.SEQUENCE_STRIDE)
data_loader = torch.utils.data.DataLoader(dataset,
batch_sampler=sampler,
shuffle=False,
num_workers=6,
pin_memory=True)
st = lambda aug: iag.Sometimes(aug, 0.4)
oc = lambda aug: iag.Sometimes(aug, 0.3)
rl = lambda aug: iag.Sometimes(aug, 0.09)
augmenter = iag.Augmenter([iag.ToGPU()] + [
rl(iag.GaussianBlur(
(0, 1.5))), # blur images with a sigma between 0 and 1.5
rl(iag.AdditiveGaussianNoise(loc=0, scale=(
0.0, 0.05), per_channel=0.5)), # add gaussian noise to images
oc(iag.Dropout((0.0, 0.10), per_channel=0.5)
), # randomly remove up to X% of the pixels
oc(
iag.CoarseDropout(
(0.0, 0.10), size_percent=(0.08, 0.2),
per_channel=0.5)), # randomly remove up to X% of the pixels
oc(iag.Add((-40, 40), per_channel=0.5)
), # change brightness of images (by -X to Y of original value)
st(iag.Multiply((0.10, 2), per_channel=0.2)
), # change brightness of images (X-Y% of original value)
rl(iag.ContrastNormalization(
(0.5, 1.5), per_channel=0.5)), # improve or worsen the contrast
rl(iag.Grayscale((0.0, 1))), # put grayscale
] # do all of the above in random order
)
l1weight = g_conf.L1_WEIGHT
task_adv_weight = g_conf.TASK_ADV_WEIGHT
image_size = tuple([88, 200])
print(strftime("%Y-%m-%d %H:%M:%S", gmtime()))
print("Configurations of ", exp_alias)
print("GANMODEL_NAME", g_conf.GANMODEL_NAME)
print("LOSS_FUNCTION", g_conf.LOSS_FUNCTION)
print("LR_G, LR_D, LR", g_conf.LR_G, g_conf.LR_D, g_conf.LEARNING_RATE)
print("SKIP", g_conf.SKIP)
print("TYPE", g_conf.TYPE)
print("L1 WEIGHT", g_conf.L1_WEIGHT)
print("TASK ADV WEIGHT", g_conf.TASK_ADV_WEIGHT)
print("LAB SMOOTH", g_conf.LABSMOOTH)
if g_conf.GANMODEL_NAME == 'LSDcontrol':
netD = ganmodels._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels._netG(loss=g_conf.LOSS_FUNCTION,
skip=g_conf.SKIP).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_nopatch':
netD = ganmodels_nopatch._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_nopatch._netG(loss=g_conf.LOSS_FUNCTION).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_nopatch_smaller':
netD = ganmodels_nopatch_smaller._netD(
loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_nopatch_smaller._netG(
loss=g_conf.LOSS_FUNCTION).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_task':
netD = ganmodels_task._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_task._netG(loss=g_conf.LOSS_FUNCTION).cuda()
netF = ganmodels_task._netF(loss=g_conf.LOSS_FUNCTION).cuda()
if g_conf.PRETRAINED == 'RECON':
netF_statedict = torch.load('netF_GAN_Pretrained.wts')
netF.load_state_dict(netF_statedict)
elif g_conf.PRETRAINED == 'IL':
print("Loading IL")
model_IL = torch.load('best_loss_20-06_EpicClearWeather.pth')
model_IL_state_dict = model_IL['state_dict']
netF_state_dict = netF.state_dict()
print(len(netF_state_dict.keys()), len(model_IL_state_dict.keys()))
for i, keys in enumerate(
zip(netF_state_dict.keys(), model_IL_state_dict.keys())):
newkey, oldkey = keys
# if newkey.split('.')[0] == "branch" and oldkey.split('.')[0] == "branches":
# print("No Transfer of ", newkey, " to ", oldkey)
# else:
print("Transferring ", newkey, " to ", oldkey)
netF_state_dict[newkey] = model_IL_state_dict[oldkey]
netF.load_state_dict(netF_state_dict)
print("IL Model Loaded!")
elif g_conf.GANMODEL_NAME == 'LSDcontrol_task_2d':
netD = ganmodels_taskAC_shared._netD().cuda()
netG = ganmodels_taskAC_shared._netG().cuda()
netF = ganmodels_taskAC_shared._netF().cuda()
if g_conf.PRETRAINED == 'IL':
print("Loading IL")
model_IL = torch.load(g_conf.IL_AGENT_PATH)
model_IL_state_dict = model_IL['state_dict']
netF_state_dict = netF.state_dict()
print(len(netF_state_dict.keys()), len(model_IL_state_dict.keys()))
for i, keys in enumerate(
zip(netF_state_dict.keys(), model_IL_state_dict.keys())):
newkey, oldkey = keys
print("Transferring ", newkey, " to ", oldkey)
netF_state_dict[newkey] = model_IL_state_dict[oldkey]
netF.load_state_dict(netF_state_dict)
print("IL Model Loaded!")
#####
if g_conf.IF_AUG:
print("Loading Aug Decoder")
model_dec = torch.load(g_conf.DECODER_RECON_PATH)
else:
print("Loading Decoder")
model_dec = torch.load(g_conf.DECODER_RECON_PATH)
model_dec_state_dict = model_dec['stateG_dict']
netG_state_dict = netG.state_dict()
print(len(netG_state_dict.keys()),
len(model_dec_state_dict.keys()))
for i, keys in enumerate(
zip(netG_state_dict.keys(), model_dec_state_dict.keys())):
newkey, oldkey = keys
print("Transferring ", newkey, " to ", oldkey)
netG_state_dict[newkey] = model_dec_state_dict[oldkey]
netG.load_state_dict(netG_state_dict)
print("Decoder Model Loaded!")
init_weights(netD)
print(netD)
print(netF)
print(netG)
optimD = torch.optim.Adam(netD.parameters(),
lr=g_conf.LR_D,
betas=(0.5, 0.999))
optimG = torch.optim.Adam(netG.parameters(),
lr=g_conf.LR_G,
betas=(0.5, 0.999))
if g_conf.TYPE == 'task':
optimF = torch.optim.Adam(netF.parameters(), lr=g_conf.LEARNING_RATE)
Task_Loss = TaskLoss()
if g_conf.GANMODEL_NAME == 'LSDcontrol_task_2d':
print("Using cross entropy!")
Loss = torch.nn.CrossEntropyLoss().cuda()
L1_loss = torch.nn.L1Loss().cuda()
iteration = 0
best_loss_iter_F = 0
best_loss_iter_G = 0
best_lossF = 1000000.0
best_lossD = 1000000.0
best_lossG = 1000000.0
accumulated_time = 0
n_critic = g_conf.N_CRITIC
lossF = Variable(torch.Tensor([100.0]))
lossG_adv = Variable(torch.Tensor([100.0]))
lossG_smooth = Variable(torch.Tensor([100.0]))
lossG = Variable(torch.Tensor([100.0]))
netG.train()
netD.train()
netF.train()
capture_time = time.time()
if not os.path.exists('./imgs_' + exp_alias):
os.mkdir('./imgs_' + exp_alias)
fake_img_pool_src = ImagePool(50)
fake_img_pool_tgt = ImagePool(50)
for data in data_loader:
set_requires_grad(netD, True)
set_requires_grad(netF, True)
set_requires_grad(netG, True)
# print("ITERATION:", iteration)
val = 0.0
input_data, float_data, tgt_imgs = data
if g_conf.IF_AUG:
inputs = augmenter(0, input_data['rgb'])
# tgt_imgs = augmenter(0, tgt_imgs)
else:
inputs = input_data['rgb'].cuda()
# tgt_imgs = tgt_imgs.cuda()
tgt_imgs = tgt_imgs.cuda()
inputs = inputs.squeeze(1)
inputs = inputs - val #subtracted by 0.5
tgt_imgs = tgt_imgs - val #subtracted by 0.5
controls = float_data[:, dataset.controls_position(), :]
src_embed_inputs, src_branches = netF(
inputs,
dataset.extract_inputs(float_data).cuda())
tgt_embed_inputs = netF(tgt_imgs, None)
src_fake_inputs = netG(src_embed_inputs.detach())
tgt_fake_inputs = netG(tgt_embed_inputs.detach())
if iteration % 100 == 0:
imgs_to_save = torch.cat(
(inputs[:1] + val, src_fake_inputs[:1] + val,
tgt_imgs[:1] + val, tgt_fake_inputs[:1] + val), 0).cpu().data
coil_logger.add_image("Images", imgs_to_save, iteration)
imgs_to_save = imgs_to_save.clamp(0.0, 1.0)
vutils.save_image(imgs_to_save,
'./imgs_' + exp_alias + '/' + str(iteration) +
'_real_and_fake.png',
normalize=False)
##--------------------Discriminator part!!!!!!!!!!-------------------##
##source fake
if g_conf.IF_POOL:
src_fake_inputs_forD = fake_img_pool_src.query(src_fake_inputs)
tgt_fake_inputs_forD = fake_img_pool_tgt.query(tgt_fake_inputs)
else:
src_fake_inputs_forD = src_fake_inputs
tgt_fake_inputs_forD = tgt_fake_inputs
set_requires_grad(netD, True)
set_requires_grad(netF, False)
set_requires_grad(netG, False)
optimD.zero_grad()
outputsD_fake_src_bin, __ = netD(src_fake_inputs_forD.detach())
outputsD_fake_tgt_bin, __ = netD(tgt_fake_inputs_forD.detach())
outputsD_real_src_bin, __ = netD(inputs)
outputsD_real_tgt_bin, __ = netD(tgt_imgs)
gradient_penalty_src = calc_gradient_penalty(netD, inputs,
src_fake_inputs_forD,
"recon")
lossD_bin_src = torch.mean(
outputsD_fake_src_bin -
outputsD_real_src_bin) + gradient_penalty_src
gradient_penalty_tgt = calc_gradient_penalty(netD, tgt_imgs,
tgt_fake_inputs_forD,
"recon")
lossD_bin_tgt = torch.mean(
outputsD_fake_tgt_bin -
outputsD_real_tgt_bin) + gradient_penalty_tgt
lossD = (lossD_bin_src + lossD_bin_tgt) * 0.5
lossD.backward(retain_graph=True)
optimD.step()
coil_logger.add_scalar('Total LossD Bin', lossD.data, iteration)
coil_logger.add_scalar('Src LossD Bin', lossD_bin_src.data, iteration)
coil_logger.add_scalar('Tgt LossD Bin', lossD_bin_tgt.data, iteration)
##--------------------Generator part!!!!!!!!!!-----------------------##
set_requires_grad(netD, False)
set_requires_grad(netF, False)
set_requires_grad(netG, True)
optimG.zero_grad()
#fake outputs for bin
outputsD_bin_src_fake_forG, __ = netD(src_fake_inputs)
outputsD_bin_tgt_fake_forG, __ = netD(tgt_fake_inputs)
#Generator updates
if ((iteration + 1) % n_critic) == 0:
#for netD_bin
optimG.zero_grad()
outputsD_bin_fake_forG = netD(tgt_imgs)
#Generator updates
lossG_src_smooth = L1_loss(
src_fake_inputs, inputs) # L1 loss with real domain image
lossG_tgt_smooth = L1_loss(
tgt_fake_inputs, tgt_imgs) # L1 loss with real domain image
lossG_src_adv_bin = -1.0 * torch.mean(outputsD_bin_src_fake_forG)
lossG_tgt_adv_bin = -1.0 * torch.mean(outputsD_bin_tgt_fake_forG)
lossG_adv_bin = 0.5 * (lossG_src_adv_bin + lossG_tgt_adv_bin)
lossG_Adv = lossG_adv_bin
lossG_L1 = 0.5 * (lossG_src_smooth + lossG_tgt_smooth)
lossG = (lossG_Adv + l1weight * lossG_L1) / (1.0 + l1weight)
lossG.backward(retain_graph=True)
optimG.step()
coil_logger.add_scalar('Total LossG', lossG.data, iteration)
coil_logger.add_scalar('LossG Adv', lossG_Adv.data, iteration)
coil_logger.add_scalar('Adv Bin LossG', lossG_adv_bin.data,
iteration)
coil_logger.add_scalar('Smooth LossG', lossG_L1.data, iteration)
#####Task network updates##########################
set_requires_grad(netD, False)
set_requires_grad(netF, True)
set_requires_grad(netG, False)
optimF.zero_grad()
lossF_task = Task_Loss.MSELoss(
src_branches,
dataset.extract_targets(float_data).cuda(), controls.cuda(),
dataset.extract_inputs(float_data).cuda())
__, outputsD_fake_src_da = netD(src_fake_inputs_forD.detach())
__, outputsD_real_tgt_da = netD(tgt_imgs)
__, outputsD_fake_tgt_da = netD(tgt_fake_inputs_forD.detach())
__, outputsD_real_src_da = netD(inputs)
gradient_penalty_da_1 = calc_gradient_penalty(
netD, tgt_imgs, src_fake_inputs_forD, "da")
lossF_da_1 = torch.mean(outputsD_fake_src_da - outputsD_real_tgt_da
) + gradient_penalty_da_1
gradient_penalty_da_2 = calc_gradient_penalty(
netD, inputs, tgt_fake_inputs_forD, "da")
lossF_da_2 = torch.mean(outputsD_fake_tgt_da - outputsD_real_src_da
) + gradient_penalty_da_2
lossF_da = 0.5 * (lossF_da_1 + lossF_da_2)
lossF = (lossF_task +
task_adv_weight * lossF_da) / (1.0 + task_adv_weight)
coil_logger.add_scalar('Total Task Loss', lossF.data, iteration)
coil_logger.add_scalar('Adv Task Loss', lossF_da.data, iteration)
coil_logger.add_scalar('Only Task Loss', lossF_task.data,
iteration)
lossF.backward(retain_graph=True)
optimF.step()
if lossG.data < best_lossG:
best_lossG = lossG.data.tolist()
best_loss_iter_G = iteration
if lossF.data < best_lossF:
best_lossF = lossF.data.tolist()
best_loss_iter_F = iteration
#optimization for one iter done!
position = random.randint(0, len(float_data) - 1)
if lossD.data < best_lossD:
best_lossD = lossD.data.tolist()
accumulated_time += time.time() - capture_time
capture_time = time.time()
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'stateF_dict': netF.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'total_time': accumulated_time,
'best_loss_iter_G': best_loss_iter_G,
'best_loss_iter_F': best_loss_iter_F
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'checkpoints',
str(iteration) + '.pth'))
if iteration == best_loss_iter_F and iteration > 10000:
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'stateF_dict': netF.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'best_lossF': best_lossF,
'total_time': accumulated_time,
'best_loss_iter_F': best_loss_iter_F
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'best_modelF' + '.pth'))
iteration += 1
def execute(gpu, exp_batch, exp_alias):
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
merge_with_yaml(os.path.join('configs', exp_batch, exp_alias + '.yaml'))
set_type_of_process('train')
coil_logger.add_message('Loading', {'GPU': gpu})
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
sys.stdout = open(os.path.join(
'_output_logs', g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
if monitorer.get_status(exp_batch, exp_alias + '.yaml',
g_conf.PROCESS_NAME)[0] == "Finished":
return
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
g_conf.TRAIN_DATASET_NAME)
dataset = CoILDataset(full_dataset,
transform=transforms.Compose([transforms.ToTensor()
]))
sampler = BatchSequenceSampler(
splitter.control_steer_split(dataset.measurements,
dataset.meta_data), g_conf.BATCH_SIZE,
g_conf.NUMBER_IMAGES_SEQUENCE, g_conf.SEQUENCE_STRIDE)
data_loader = torch.utils.data.DataLoader(dataset,
batch_sampler=sampler,
shuffle=False,
num_workers=6,
pin_memory=True)
l1weight = 1.0
image_size = tuple([88, 200])
testmode = 1
# print("helllooooo", g_conf.MODEL_NAME)
if g_conf.GANMODEL_NAME == 'LSDcontrol':
netD = ganmodels._netD().cuda()
netG = ganmodels._netG(skip=g_conf.SKIP).cuda()
# else:
# netD = ganmodels._oldnetD().cuda()
# netG = ganmodels._oldnetG().cuda()
init_weights(netD)
init_weights(netG)
print(netD)
print(netG)
optimD = torch.optim.Adam(netD.parameters(), lr=0.0002, betas=(0.5, 0.999))
optimG = torch.optim.Adam(netG.parameters(), lr=0.0002, betas=(0.7, 0.999))
BCE_loss = torch.nn.MSELoss().cuda()
# BCE_loss = torch.nn.BCELoss().cuda()
L1_loss = torch.nn.L1Loss().cuda()
iteration = 0
best_loss_iter = 0
best_lossD = 1000000.0
best_lossG = 1000000.0
accumulated_time = 0
netG.train()
netD.train()
capture_time = time.time()
if not os.path.exists('./imgs_' + exp_alias):
os.mkdir('./imgs_' + exp_alias)
for data in data_loader:
val = 0.0
input_data, float_data = data
inputs = input_data['rgb'].cuda()
inputs = inputs.squeeze(1)
inputs_in = inputs - val
#forward pass
# print(inputs[0][0][0][0], inputs_in[0][0][0][0])
fake_inputs = netG(inputs_in) #subtracted by 0.5
fake_inputs_in = fake_inputs
# print(fake_inputs[0][0][0][0], fake_inputs_in[0][0][0][0])
if iteration % 200 == 0:
imgs_to_save = torch.cat((inputs_in[:2], fake_inputs_in[:2]),
0).cpu().data
vutils.save_image(imgs_to_save,
'./imgs_' + exp_alias + '/' + str(iteration) +
'_real_and_fake.png',
normalize=True)
coil_logger.add_image("Images", imgs_to_save, iteration)
#########################dark territory starts here!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
##--------------------Discriminator part!!!!!!!!!!-----------------------
set_requires_grad(netD, True)
optimD.zero_grad()
##fake
outputsD_fake_forD = netD(fake_inputs.detach())
labsize = outputsD_fake_forD.size()
#Create labels of patchgan style with label smoothing
labels_fake = torch.zeros(labsize) #Fake labels
label_fake_noise = torch.rand(
labels_fake.size()) * 0.05 - 0.025 #Label smoothing
labels_fake = labels_fake
labels_fake = Variable(labels_fake).cuda()
# lossD_fake = MSE_loss(outputsD_fake_forD, labels_fake)
lossD_fake = BCE_loss(outputsD_fake_forD, labels_fake)
##real
outputsD_real = netD(inputs)
labsize = outputsD_real.size()
print("label size is: ", labsize)
#Create labels of patchgan style with label smoothing
labels_real = torch.ones(labsize) #Real labels
label_real_noise = torch.rand(
labels_real.size()) * 0.05 - 0.025 #Label smoothing
labels_real = labels_real
labels_real = Variable(labels_real).cuda()
# lossD_real = MSE_loss(outputsD_real, labels_real)
lossD_real = BCE_loss(outputsD_real, labels_real)
#Discriminator updates
lossD = (lossD_real + lossD_fake) * 0.5
lossD /= len(inputs)
lossD.backward() #retain_graph=True needed?
optimD.step()
coil_logger.add_scalar('Total LossD', lossD.data, iteration)
coil_logger.add_scalar('Real LossD', lossD_real.data / len(inputs),
iteration)
coil_logger.add_scalar('Fake LossD', lossD_fake.data / len(inputs),
iteration)
##--------------------Generator part!!!!!!!!!!-----------------------
#TODO change decoder architecture
#TODO check norms of gradients later
#TODO add auxiliary regression loss for steering
set_requires_grad(netD, False)
optimG.zero_grad()
outputsD_fake_forG = netD(fake_inputs)
#Generator updates
# lossG_adv = MSE_loss(outputsD_fake_forG, labels_real)
lossG_adv = BCE_loss(outputsD_fake_forG, labels_real)
lossG_smooth = L1_loss(fake_inputs, inputs)
lossG = lossG_adv + l1weight * lossG_smooth
# lossG = lossG_adv
lossG /= len(inputs)
lossG.backward() #retain_graph=True needed?
optimG.step()
coil_logger.add_scalar('Total LossG', lossG.data, iteration)
coil_logger.add_scalar('Adv LossG', lossG_adv.data / len(inputs),
iteration)
coil_logger.add_scalar('Smooth LossG', lossG_smooth.data / len(inputs),
iteration)
#optimization for one iter done!
position = random.randint(0, len(float_data) - 1)
if lossD.data < best_lossD:
best_lossD = lossD.data.tolist()
if lossG.data < best_lossG:
best_lossG = lossG.data.tolist()
best_loss_iter = iteration
accumulated_time += time.time() - capture_time
capture_time = time.time()
print("LossD", lossD.data.tolist(), "LossG", lossG.data.tolist(),
"BestLossD", best_lossD, "BestLossG", best_lossG, "Iteration",
iteration, "Best Loss Iteration", best_loss_iter)
coil_logger.add_message(
'Iterating', {
'Iteration':
iteration,
'LossD':
lossD.data.tolist(),
'LossG':
lossG.data.tolist(),
'Images/s': (iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLossD':
best_lossD,
'BestLossIteration':
best_loss_iter,
'BestLossG':
best_lossG,
'BestLossIteration':
best_loss_iter,
'GroundTruth':
dataset.extract_targets(float_data)[position].data.tolist(),
'Inputs':
dataset.extract_inputs(float_data)[position].data.tolist()
}, iteration)
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'total_time': accumulated_time,
'best_loss_iter': best_loss_iter
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'checkpoints',
str(iteration) + '.pth'))
if iteration == best_loss_iter:
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'total_time': accumulated_time,
'best_loss_iter': best_loss_iter
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'best_modelG' + '.pth'))
iteration += 1
def execute(gpu,
exp_batch,
exp_alias,
suppress_output=True,
number_of_workers=12):
"""
The main encoder training function.
Args:
gpu: The GPU id number
exp_batch: the folder with the experiments
exp_alias: the alias, experiment name
suppress_output: if the output are going to be saved on a file
number_of_workers: the number of threads used for data loading
Returns:
None
"""
try:
# We set the visible cuda devices to select the GPU
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
g_conf.VARIABLE_WEIGHT = {}
# At this point the log file with the correct naming is created.
# You merge the yaml file with the global configuration structure.
merge_with_yaml(os.path.join('configs', exp_batch,
exp_alias + '.yaml'))
set_type_of_process('train_encoder')
# Set the process into loading status.
coil_logger.add_message('Loading',
{'GPU': os.environ["CUDA_VISIBLE_DEVICES"]})
# we set a seed for this exp
seed_everything(seed=g_conf.MAGICAL_SEED)
# Put the output to a separate file if it is the case
if suppress_output:
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
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)
# Preload option
if g_conf.PRELOAD_MODEL_ALIAS is not None:
checkpoint = torch.load(
os.path.join('_logs', g_conf.PRELOAD_MODEL_BATCH,
g_conf.PRELOAD_MODEL_ALIAS, 'checkpoints',
str(g_conf.PRELOAD_MODEL_CHECKPOINT) + '.pth'))
# Get the latest checkpoint to be loaded
# returns none if there are no checkpoints saved for this model
checkpoint_file = get_latest_saved_checkpoint()
if checkpoint_file is not None:
checkpoint = torch.load(
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(get_latest_saved_checkpoint())))
iteration = checkpoint['iteration']
best_loss = checkpoint['best_loss']
best_loss_iter = checkpoint['best_loss_iter']
else:
iteration = 0
best_loss = 1000000000.0
best_loss_iter = 0
# Define the dataset. This structure is has the __get_item__ redefined in a way
# that you can access the positions from the root directory as a in a vector.
# full_dataset = os.path.join(os.environ["SRL_DATASET_PATH"], g_conf.TRAIN_DATASET_NAME)
# By instantiating the augmenter we get a callable that augment images and transform them
# into tensors.
augmenter = Augmenter(g_conf.AUGMENTATION)
if len(g_conf.EXPERIENCE_FILE) == 1:
json_file_name = str(
g_conf.EXPERIENCE_FILE[0]).split('/')[-1].split('.')[-2]
else:
json_file_name = str(g_conf.EXPERIENCE_FILE[0]).split(
'/')[-1].split('.')[-2] + '_' + str(
g_conf.EXPERIENCE_FILE[1]).split('/')[-1].split('.')[-2]
print(g_conf.EXPERIENCE_FILE)
dataset = CoILDataset(transform=augmenter,
preload_name=g_conf.PROCESS_NAME + '_' +
json_file_name + '_' + g_conf.DATA_USED)
print("Loaded dataset")
data_loader = select_balancing_strategy(dataset, iteration,
number_of_workers)
print('len(data_loader)', len(data_loader))
print('\n' * 2, 'model and config:', g_conf.ENCODER_MODEL_TYPE,
g_conf.ENCODER_MODEL_CONFIGURATION, '\n' * 2)
encoder_model = EncoderModel(g_conf.ENCODER_MODEL_TYPE,
g_conf.ENCODER_MODEL_CONFIGURATION)
encoder_model.cuda()
encoder_model.train()
print(encoder_model)
optimizer = optim.Adam(encoder_model.parameters(),
lr=g_conf.LEARNING_RATE)
if checkpoint_file is not None or g_conf.PRELOAD_MODEL_ALIAS is not None:
encoder_model.load_state_dict(checkpoint['state_dict'])
optimizer.load_state_dict(checkpoint['optimizer'])
accumulated_time = checkpoint['total_time']
loss_window = coil_logger.recover_loss_window('train', iteration)
else: # We accumulate iteration time and keep the average speed
accumulated_time = 0
loss_window = []
print("Before the loss")
if g_conf.ENCODER_MODEL_TYPE in ['ETE']:
criterion = Loss(g_conf.LOSS_FUNCTION)
# Loss time series window
for data in data_loader:
print('iteration :', iteration)
if iteration % 1000 == 0:
adjust_learning_rate_auto(optimizer, loss_window)
capture_time = time.time()
encoder_model.zero_grad()
"""
####################################
ENCODER_MODEL_TYPE can be: one-step-affordances, ETE, stdim, action_prediction
####################################
- one-step-affordances: input RGB images, compute affordances loss.
- ETE: input RGB images and speed, compute action loss (steering, throttle, brake)
- stdim: input two consecutive RGB images, compute the feature loss
- action_prediction: input two consecutive RGB images, compute action classification loss
- forward: input two consecutive RGB images, compute action loss + feature loss
"""
if g_conf.ENCODER_MODEL_TYPE in ['one-step-affordances']:
loss_function_params = {
'classification_gt':
dataset.extract_affordances_targets(
data, 'classification').cuda(),
# harzard stop, red_light....
'class_weights':
g_conf.AFFORDANCES_CLASS_WEIGHT,
'regression_gt':
dataset.extract_affordances_targets(data,
'regression').cuda(),
'variable_weights':
g_conf.AFFORDANCES_VARIABLE_WEIGHT
}
# we input RGB images, speed and command to train affordances
loss = encoder_model(
torch.squeeze(data['rgb'].cuda()),
dataset.extract_inputs(data).cuda(),
torch.squeeze(dataset.extract_commands(data).cuda()),
loss_function_params)
if iteration == 0:
state = {
'iteration': iteration,
'state_dict': encoder_model.state_dict(),
'best_loss': best_loss,
'total_time': accumulated_time,
'optimizer': optimizer.state_dict(),
'best_loss_iter': best_loss_iter
}
torch.save(
state,
os.path.join('_logs', exp_batch, exp_alias,
'checkpoints', 'inital.pth'))
loss.backward()
optimizer.step()
elif g_conf.ENCODER_MODEL_TYPE in ['forward']:
# We sample another batch to avoid the superposition
inputs_data = [data['rgb'][0].cuda(), data['rgb'][1].cuda()]
loss, loss_other, loss_ete = encoder_model(
inputs_data,
dataset.extract_inputs(data),
# We also add measurements and commands
dataset.extract_commands(data),
dataset.extract_targets(data)[0].cuda())
loss.backward()
optimizer.step()
elif g_conf.ENCODER_MODEL_TYPE in ['ETE']:
branches = encoder_model(
torch.squeeze(data['rgb'].cuda()),
dataset.extract_inputs(data).cuda(),
torch.squeeze(dataset.extract_commands(data).cuda()))
loss_function_params = {
'branches': branches,
'targets': dataset.extract_targets(
data).cuda(), # steer, throttle, brake
'inputs': dataset.extract_inputs(data).cuda(), # speed
'branch_weights': g_conf.BRANCH_LOSS_WEIGHT,
'variable_weights': g_conf.VARIABLE_WEIGHT
}
loss, _ = criterion(loss_function_params)
loss.backward()
optimizer.step()
elif g_conf.ENCODER_MODEL_TYPE in ['stdim']:
inputs_data = [data['rgb'][0].cuda(), data['rgb'][1].cuda()]
loss, _, _ = encoder_model(
inputs_data,
dataset.extract_inputs(data),
# We also add measurements and commands
dataset.extract_commands(data))
loss.backward()
optimizer.step()
elif g_conf.ENCODER_MODEL_TYPE in ['action_prediction']:
inputs_data = [data['rgb'][0].cuda(), data['rgb'][1].cuda()]
loss, _, _ = encoder_model(
inputs_data,
dataset.extract_inputs(data),
# We also add measurements and commands
dataset.extract_commands(data),
dataset.extract_targets(data)[0].cuda())
loss.backward()
optimizer.step()
else:
raise ValueError("The encoder model type is not know")
"""
####################################
Saving the model if necessary
####################################
"""
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'state_dict': encoder_model.state_dict(),
'best_loss': best_loss,
'total_time': accumulated_time,
'optimizer': optimizer.state_dict(),
'best_loss_iter': best_loss_iter
}
torch.save(
state,
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(iteration) + '.pth'))
iteration += 1
"""
################################################
Adding tensorboard logs.
Making calculations for logging purposes.
These logs are monitored by the printer module.
#################################################
"""
if g_conf.ENCODER_MODEL_TYPE in [
'stdim', 'action_prediction', 'forward'
]:
coil_logger.add_scalar('Loss', loss.data, iteration)
coil_logger.add_image('f_t', torch.squeeze(data['rgb'][0]),
iteration)
coil_logger.add_image('f_ti', torch.squeeze(data['rgb'][1]),
iteration)
elif g_conf.ENCODER_MODEL_TYPE in ['one-step-affordances', 'ETE']:
coil_logger.add_scalar('Loss', loss.data, iteration)
coil_logger.add_image('Image', torch.squeeze(data['rgb']),
iteration)
if loss.data < best_loss:
best_loss = loss.data.tolist()
best_loss_iter = iteration
accumulated_time += time.time() - capture_time
coil_logger.add_message(
'Iterating', {
'Iteration': iteration,
'Loss': loss.data.tolist(),
'Images/s':
(iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLoss': best_loss,
'BestLossIteration': best_loss_iter
}, iteration)
loss_window.append(loss.data.tolist())
coil_logger.write_on_error_csv('train', loss.data)
if iteration % 100 == 0:
print('Train Iteration: {} [{}/{} ({:.0f}%)] \t Loss: {:.6f}'.
format(iteration, iteration, g_conf.NUMBER_ITERATIONS,
100. * iteration / g_conf.NUMBER_ITERATIONS,
loss.data))
coil_logger.add_message('Finished', {})
except KeyboardInterrupt:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Killed By User'})
except RuntimeError as e:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': str(e)})
except:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Something Happened'})
def execute(gpu, exp_batch, exp_alias, dataset_name, architecture,
suppress_output):
try:
# We set the visible cuda devices
torch.manual_seed(2)
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
# Validation available for:
# coil_unit (UNIT + task combined)
# coil_icra (Also used for finetuned models)
# wgangp_lsd (Our architecture)
architecture_name = architecture
# At this point the log file with the correct naming is created.
if architecture_name == 'coil_unit':
pass
elif architecture_name == 'wgangp_lsd':
merge_with_yaml(
os.path.join('/home/rohitrishabh/CoilWGAN/configs', exp_batch,
exp_alias + '.yaml'))
set_type_of_process('validation', dataset_name)
elif architecture_name == 'coil_icra':
merge_with_yaml(
os.path.join(
'/home/adas/CleanedCode/CoIL_Codes/coil_20-06/configs',
exp_batch, exp_alias + '.yaml'))
set_type_of_process('validation', dataset_name)
if monitorer.get_status(exp_batch, exp_alias + '.yaml',
g_conf.PROCESS_NAME)[0] == "Finished":
# TODO: print some cool summary or not ?
return
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
if suppress_output:
sys.stdout = open(os.path.join(
'_output_logs',
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.
if dataset_name != []:
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
dataset_name)
else:
full_dataset = os.environ["COIL_DATASET_PATH"]
augmenter = Augmenter(None)
dataset = CoILDataset(full_dataset, transform=augmenter)
# 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.
# TODO: batch size an number of workers go to some configuration file
batchsize = 30
data_loader = torch.utils.data.DataLoader(dataset,
batch_size=batchsize,
shuffle=False,
num_workers=1,
pin_memory=True)
# TODO: here there is clearly a posibility to make a cool "conditioning" system.
if architecture_name == 'coil_unit':
model_task, model_gen = CoILModel('coil_unit')
model_task, model_gen = model_task.cuda(), model_gen.cuda()
else:
model = CoILModel(architecture_name)
model.cuda()
latest = 0
# print (dataset.meta_data)
best_loss = 1000
best_error = 1000
best_loss_mini = 1000
best_loss_iter = 0
best_error_iter = 0
batch_size = 30
best_loss_ckpt = ''
if architecture_name == 'coil_unit':
ckpts = glob.glob('/home/rohitrishabh/UNIT_DA/outputs/' +
exp_alias + '/checkpoints/gen*.pt')
else:
ckpts = glob.glob(
os.path.join(
'/home/adas/CleanedCode/CoIL_Codes/coil_20-06/_logs',
exp_batch, exp_alias) + '/*.pth')
if architecture_name == 'coil_unit':
model_task.eval()
model_gen.eval()
else:
model.eval()
ckpts = sorted(ckpts)
# TODO: refactor on the getting on the checkpoint organization needed
for ckpt in ckpts:
# if is_next_checkpoint_ready(g_conf.TEST_SCHEDULE):
# latest = get_next_checkpoint(g_conf.TEST_SCHEDULE)
# ckpt = os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch, exp_alias
# , 'checkpoints', str(latest) + '.pth')
checkpoint = torch.load(ckpt)
print("Validation loaded ", ckpt)
if architecture_name == 'wgangp_lsd':
print(ckpt, checkpoint['best_loss_iter_F'])
model.load_state_dict(checkpoint['stateF_dict'])
model.eval()
elif architecture_name == 'coil_unit':
model_task.load_state_dict(checkpoint['task'])
model_gen.load_state_dict(checkpoint['b'])
model_task.eval()
model_gen.eval()
elif architecture_name == 'coil_icra':
model.load_state_dict(checkpoint['state_dict'])
model.eval()
accumulated_loss = 0
accumulated_error = 0
iteration_on_checkpoint = 0
datacount = 0
for data in data_loader:
input_data, float_data = data
controls = float_data[:, dataset.controls_position(), :]
camera_angle = float_data[:, 26, :]
camera_angle = camera_angle.cuda()
steer = float_data[:, 0, :]
steer = steer.cuda()
speed = float_data[:, 10, :]
speed = speed.cuda()
time_use = 1.0
car_length = 3.0
extra_factor = 2.5
threshold = 1.0
pos = camera_angle > 0.0
pos = pos.type(torch.FloatTensor)
neg = camera_angle <= 0.0
neg = neg.type(torch.FloatTensor)
pos = pos.cuda()
neg = neg.cuda()
rad_camera_angle = math.pi * (torch.abs(camera_angle)) / 180.0
val = extra_factor * (torch.atan(
(rad_camera_angle * car_length) /
(time_use * speed + 0.05))) / 3.1415
steer -= pos * torch.min(val, torch.Tensor([0.6]).cuda())
steer += neg * torch.min(val, torch.Tensor([0.6]).cuda())
steer = steer.cpu()
float_data[:, 0, :] = steer
float_data[:, 0, :][float_data[:, 0, :] > 1.0] = 1.0
float_data[:, 0, :][float_data[:, 0, :] < -1.0] = -1.0
datacount += 1
control_position = 24
speed_position = 10
if architecture_name == 'wgangp_lsd':
embed, output = model(
torch.squeeze(input_data['rgb']).cuda(),
float_data[:, speed_position, :].cuda())
loss = torch.sum(
(output[0] -
dataset.extract_targets(float_data).cuda()
)**2).data.tolist()
mean_error = torch.sum(
torch.abs(output[0] -
dataset.extract_targets(float_data).cuda())
).data.tolist()
elif architecture_name == 'coil_unit':
embed, n_b = model_gen.encode(
torch.squeeze(input_data['rgb']).cuda())
output = model_task(
embed,
Variable(float_data[:, speed_position, :]).cuda())
loss = torch.sum(
(output[0].data -
dataset.extract_targets(float_data).cuda())**2)
mean_error = torch.sum(
torch.abs(output[0].data -
dataset.extract_targets(float_data).cuda()))
elif architecture_name == 'coil_icra':
output = model.forward_branch(
torch.squeeze(input_data['rgb']).cuda(),
float_data[:, speed_position, :].cuda(),
float_data[:, control_position, :].cuda())
loss = torch.sum(
(output - dataset.extract_targets(float_data).cuda()
)**2).data.tolist()
mean_error = torch.sum(
torch.abs(output -
dataset.extract_targets(float_data).cuda())
).data.tolist()
if loss < best_loss_mini:
best_loss_mini = loss
accumulated_error += mean_error
accumulated_loss += loss
# error = torch.abs(output[0] - dataset.extract_targets(float_data).cuda())
# Log a random position
position = random.randint(0, len(float_data) - 1)
iteration_on_checkpoint += 1
print(datacount, len(data_loader), accumulated_loss)
checkpoint_average_loss = accumulated_loss / float(
datacount * batchsize)
checkpoint_average_error = accumulated_error / float(
datacount * batchsize)
if checkpoint_average_loss < best_loss:
best_loss = checkpoint_average_loss
best_loss_iter = latest
best_loss_ckpt = ckpt
if checkpoint_average_error < best_error:
best_error = checkpoint_average_error
best_error_iter = latest
print("current loss", checkpoint_average_loss)
print("best_loss", best_loss)
coil_logger.add_message(
'Iterating', {
'Summary': {
'Error': checkpoint_average_error,
'Loss': checkpoint_average_loss,
'BestError': best_error,
'BestLoss': best_loss,
'BestLossCheckpoint': best_loss_iter,
'BestErrorCheckpoint': best_error_iter
},
'Checkpoint': latest
}, latest)
latest += 2000
coil_logger.add_message('Finished', {})
print("Best Validation Loss ckpt:", best_loss_ckpt)
# TODO: DO ALL THE AMAZING LOGGING HERE, as a way to very the status in paralell.
# THIS SHOULD BE AN INTERELY PARALLEL PROCESS
except KeyboardInterrupt:
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):
# We set the visible cuda devices
try:
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'))
set_type_of_process('train')
coil_logger.add_message('Loading', {'GPU': gpu})
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
sys.stdout = open(os.path.join(
'_output_logs',
g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
if monitorer.get_status(exp_batch, exp_alias + '.yaml',
g_conf.PROCESS_NAME)[0] == "Finished":
# TODO: print some cool summary or not ?
return
#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"],
g_conf.TRAIN_DATASET_NAME)
#augmenter_cpu = iag.AugmenterCPU(g_conf.AUGMENTATION_SUITE_CPU)
dataset = CoILDataset(full_dataset,
transform=transforms.Compose(
[transforms.ToTensor()]))
# 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.
sampler = BatchSequenceSampler(
splitter.control_steer_split(dataset.measurements,
dataset.meta_data), g_conf.BATCH_SIZE,
g_conf.NUMBER_IMAGES_SEQUENCE, g_conf.SEQUENCE_STRIDE)
# The data loader is the multi threaded module from pytorch that release a number of
# workers to get all the data.
# TODO: batch size an number of workers go to some configuration file
data_loader = torch.utils.data.DataLoader(dataset,
batch_sampler=sampler,
shuffle=False,
num_workers=12,
pin_memory=False)
# By instanciating the augmenter we get a callable that augment images and transform them
# into tensors.
st = lambda aug: iag.Sometimes(aug, 0.4)
oc = lambda aug: iag.Sometimes(aug, 0.3)
rl = lambda aug: iag.Sometimes(aug, 0.09)
augmenter = iag.Augmenter([iag.ToGPU()] + [
rl(iag.GaussianBlur(
(0, 1.5))), # blur images with a sigma between 0 and 1.5
rl(
iag.AdditiveGaussianNoise(
loc=0, scale=(0.0, 0.05),
per_channel=0.5)), # add gaussian noise to images
oc(iag.Dropout((0.0, 0.10), per_channel=0.5)
), # randomly remove up to X% of the pixels
oc(
iag.CoarseDropout(
(0.0, 0.10), size_percent=(0.08, 0.2), per_channel=0.5)
), # randomly remove up to X% of the pixels
oc(iag.Add((-40, 40), per_channel=0.5)
), # change brightness of images (by -X to Y of original value)
st(iag.Multiply((0.10, 2), per_channel=0.2)
), # change brightness of images (X-Y% of original value)
rl(iag.ContrastNormalization((
0.5, 1.5), per_channel=0.5)), # improve or worsen the contrast
rl(iag.Grayscale((0.0, 1))), # put grayscale
] # do all of the above in random order
)
# augmenter = iag.Augmenter(g_conf.AUGMENTATION_SUITE)
# TODO: here there is clearly a posibility to make a cool "conditioning" system.
model = CoILModel(g_conf.MODEL_NAME)
model.cuda()
print(model)
criterion = Loss()
# TODO: DATASET SIZE SEEMS WEIRD
optimizer = optim.Adam(model.parameters(), lr=0.0002)
checkpoint_file = get_latest_saved_checkpoint()
if checkpoint_file != None:
checkpoint = torch.load(
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(get_latest_saved_checkpoint())))
iteration = checkpoint['iteration']
accumulated_time = checkpoint['total_time']
best_loss = checkpoint['best_loss']
best_loss_iter = checkpoint['best_loss_iter']
else:
iteration = 0
best_loss = 10000.0
accumulated_time = 0 # We accumulate iteration time and keep the average speed
best_loss_iter = 0
# TODO: The checkpoint will continue, so it should erase everything up to the iteration
best_loss_save = 10000.0
best_loss_save_iter = 0
curr_loss_save = 0.0
print(dataset.meta_data)
print(model)
capture_time = time.time()
model.train()
for data in data_loader:
input_data, float_data = data
#TODO, ADD ITERATION SCHEDULE
input_rgb_data = augmenter(0, input_data['rgb'])
augment_for_controls = 1
adjustlr = 1
if augment_for_controls: #and self._config.targets_names[j] == "Steer":
camera_angle = float_data[:, 26, :]
camera_angle = camera_angle.cuda(
) #self._config.variable_names.index('Angle'),i]
print("Camera angle", camera_angle[0])
steer = float_data[:, 0, :]
# print("Original", steer[0])
steer = steer.cuda()
speed = float_data[:, 10, :]
speed = speed.cuda()
# print (steer)
time_use = 1.0
car_length = 3.0
extra_factor = 2.5
threshold = 1.0
pos = camera_angle > 0.0
pos = pos.type(torch.FloatTensor)
neg = camera_angle <= 0.0
neg = neg.type(torch.FloatTensor)
pos = pos.cuda()
neg = neg.cuda()
rad_camera_angle = math.pi * (torch.abs(camera_angle)) / 180.0
val = extra_factor * (torch.atan(
(rad_camera_angle * car_length) /
(time_use * speed + 0.05))) / 3.1415
# print(val)
steer -= pos * torch.min(val, torch.tensor([0.6]).cuda())
steer += neg * torch.min(val, torch.tensor([0.6]).cuda())
print("val", val[0])
print("speed", speed[0])
steer = steer.cpu()
float_data[:, 0, :] = steer
float_data[:, 0, :][float_data[:, 0, :] > 1.0] = 1.0
float_data[:, 0, :][float_data[:, 0, :] < -1.0] = -1.0
#coil_logger.add_images(input_rgb_data)
# get the control commands from float_data, size = [120,1]
controls = float_data[:, dataset.controls_position(), :]
# print(" CONTROLS ", controls.shape)
# The output(branches) is a list of 5 branches results, each branch is with size [120,3]
model.zero_grad()
# print ( 'INPUTS', dataset.extract_inputs(float_data).shape )
branches = model(input_rgb_data,
dataset.extract_inputs(float_data).cuda())
#print ("len ",len(branches))
#targets = torch.cat([steer_gt, gas_gt, brake_gt], 1)
# print ("Extracted targets ", dataset.extract_targets(float_data).shape[0])
loss = criterion.MSELoss(
branches,
dataset.extract_targets(float_data).cuda(), controls.cuda(),
dataset.extract_inputs(float_data).cuda())
# TODO: All these logging things could go out to clean up the main
if loss.data < best_loss:
best_loss = loss.data.tolist()
best_loss_iter = iteration
curr_loss_save += loss.data
# Log a random position
position = random.randint(0, len(float_data) - 1)
output = model.extract_branch(torch.stack(branches[0:4]), controls)
error = torch.abs(output -
dataset.extract_targets(float_data).cuda())
# TODO: For now we are computing the error for just the correct branch, it could be multi- branch,
coil_logger.add_scalar('Loss', loss.data, iteration)
loss.backward()
optimizer.step()
accumulated_time += time.time() - capture_time
capture_time = time.time()
# TODO: Get only the float_data that are actually generating output
# TODO: itearation is repeating , and that is dumb
coil_logger.add_message(
'Iterating', {
'Iteration':
iteration,
'Loss':
loss.data.tolist(),
'Images/s':
(iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLoss':
best_loss,
'BestLossIteration':
best_loss_iter,
'BestLossSave':
best_loss_save,
'Output':
output[position].data.tolist(),
'GroundTruth':
dataset.extract_targets(
float_data)[position].data.tolist(),
'Error':
error[position].data.tolist(),
'Inputs':
dataset.extract_inputs(float_data)[position].data.tolist()
}, iteration)
# TODO: For now we are computing the error for just the correct branch, it could be multi-branch,
# TODO: save also the optimizer state dictionary
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'state_dict': model.state_dict(),
'best_loss': best_loss,
'total_time': accumulated_time,
'best_loss_iter': best_loss_iter
}
# TODO : maybe already summarize the best model ???
torch.save(
state,
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(iteration) + '.pth'))
print("before best save")
if iteration % 5 == 0 and iteration > 4:
curr_loss_save /= 5000.0
if curr_loss_save < best_loss_save:
best_loss_save = curr_loss_save
curr_loss_save = 0
state = {
'iteration': iteration,
'state_dict': model.state_dict(),
'best_loss': best_loss_save,
'total_time': accumulated_time,
'best_loss_iter': best_loss_save_iter
}
# TODO : maybe already summarize the best model ???
torch.save(
state,
os.path.join('_logs', exp_batch, exp_alias,
'best_loss_save' + '.pth'))
print("after best save")
if iteration == best_loss_iter:
state = {
'iteration': iteration,
'state_dict': model.state_dict(),
'best_loss': best_loss,
'total_time': accumulated_time,
'best_loss_iter': best_loss_iter
}
# TODO : maybe already summarize the best model ???
torch.save(
state,
os.path.join('_logs', exp_batch, exp_alias,
'best_loss' + '.pth'))
iteration += 1
if adjustlr and iteration % 1000:
adjust_learning_rate(optimizer, iteration)
except KeyboardInterrupt:
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):
manualSeed = g_conf.SEED
torch.cuda.manual_seed(manualSeed)
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
merge_with_yaml(os.path.join('configs', exp_batch, exp_alias + '.yaml'))
set_type_of_process('train')
coil_logger.add_message('Loading', {'GPU': gpu})
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
sys.stdout = open(os.path.join(
'_output_logs', g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
if monitorer.get_status(exp_batch, exp_alias + '.yaml',
g_conf.PROCESS_NAME)[0] == "Finished":
return
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
g_conf.TRAIN_DATASET_NAME)
real_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
"FinalRealWorldDataset")
#main data loader
dataset = CoILDataset(full_dataset,
real_dataset,
transform=transforms.Compose([transforms.ToTensor()
]))
sampler = BatchSequenceSampler(
splitter.control_steer_split(dataset.measurements,
dataset.meta_data), g_conf.BATCH_SIZE,
g_conf.NUMBER_IMAGES_SEQUENCE, g_conf.SEQUENCE_STRIDE)
data_loader = torch.utils.data.DataLoader(dataset,
batch_sampler=sampler,
shuffle=False,
num_workers=6,
pin_memory=True)
#real image dataloader
l1weight = g_conf.L1_WEIGHT
image_size = tuple([88, 200])
print("Configurations of ", exp_alias)
print("GANMODEL_NAME", g_conf.GANMODEL_NAME)
print("LOSS_FUNCTION", g_conf.LOSS_FUNCTION)
print("LR_G, LR_D, LR", g_conf.LR_G, g_conf.LR_D, g_conf.LEARNING_RATE)
print("SKIP", g_conf.SKIP)
print("TYPE", g_conf.TYPE)
print("L1 WEIGHT", g_conf.L1_WEIGHT)
print("LAB SMOOTH", g_conf.LABSMOOTH)
if g_conf.GANMODEL_NAME == 'LSDcontrol':
netD = ganmodels._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels._netG(loss=g_conf.LOSS_FUNCTION,
skip=g_conf.SKIP).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_nopatch':
netD = ganmodels_nopatch._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_nopatch._netG(loss=g_conf.LOSS_FUNCTION).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_nopatch_smaller':
netD = ganmodels_nopatch_smaller._netD(
loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_nopatch_smaller._netG(
loss=g_conf.LOSS_FUNCTION).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_task':
netD = ganmodels_task._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_task._netG(loss=g_conf.LOSS_FUNCTION).cuda()
netF = ganmodels_task._netF(loss=g_conf.LOSS_FUNCTION).cuda()
if g_conf.PRETRAINED == 'RECON':
netF_statedict = torch.load('netF_GAN_Pretrained.wts')
netF.load_state_dict(netF_statedict)
elif g_conf.PRETRAINED == 'IL':
print("Loading IL")
model_IL = torch.load('best_loss_20-06_EpicClearWeather.pth')
model_IL_state_dict = model_IL['state_dict']
netF_state_dict = netF.state_dict()
print(len(netF_state_dict.keys()), len(model_IL_state_dict.keys()))
for i, keys in enumerate(
zip(netF_state_dict.keys(), model_IL_state_dict.keys())):
newkey, oldkey = keys
if newkey.split('.')[0] == "branch" and oldkey.split(
'.')[0] == "branches":
print("No Transfer of ", newkey, " to ", oldkey)
else:
print("Transferring ", newkey, " to ", oldkey)
netF_state_dict[newkey] = model_IL_state_dict[oldkey]
netF.load_state_dict(netF_state_dict)
print("IL Model Loaded!")
init_weights(netD)
init_weights(netG)
#do init for netF also later but now it is in the model code itself
print(netD)
print(netF)
print(netG)
optimD = torch.optim.Adam(netD.parameters(),
lr=g_conf.LR_D,
betas=(0.7, 0.999))
optimG = torch.optim.Adam(netG.parameters(),
lr=g_conf.LR_G,
betas=(0.7, 0.999))
if g_conf.TYPE == 'task':
optimF = torch.optim.Adam(netF.parameters(), lr=g_conf.LEARNING_RATE)
Task_Loss = TaskLoss()
if g_conf.LOSS_FUNCTION == 'LSGAN':
Loss = torch.nn.MSELoss().cuda()
elif g_conf.LOSS_FUNCTION == 'NORMAL':
Loss = torch.nn.BCELoss().cuda()
L1_loss = torch.nn.L1Loss().cuda()
iteration = 0
best_loss_iter_F = 0
best_loss_iter_G = 0
best_lossF = 1000000.0
best_lossD = 1000000.0
best_lossG = 1000000.0
accumulated_time = 0
gen_iterations = 0
netG.train()
netD.train()
netF.train()
capture_time = time.time()
if not os.path.exists('./imgs_' + exp_alias):
os.mkdir('./imgs_' + exp_alias)
#TODO put family for losses
fake_img_pool = ImagePool(50)
for data in data_loader:
set_requires_grad(netD, True)
set_requires_grad(netF, True)
set_requires_grad(netG, True)
# print("ITERATION:", iteration)
val = 0.5
input_data, float_data, real_img = data
inputs = input_data['rgb'].cuda()
inputs = inputs.squeeze(1)
inputs_in = inputs - val #subtracted by 0.5
#TODO: make sure the F network does not get optimized by G optim
controls = float_data[:, dataset.controls_position(), :]
embed, branches = netF(inputs_in,
dataset.extract_inputs(float_data).cuda())
print("Branch Outputs:::", branches[0][0])
embed_inputs = embed
fake_inputs = netG(embed_inputs.detach())
fake_inputs_in = fake_inputs
if iteration % 500 == 0:
imgs_to_save = torch.cat((inputs_in[:2] + val, fake_inputs_in[:2]),
0).cpu().data
vutils.save_image(imgs_to_save,
'./imgs_' + exp_alias + '/' + str(iteration) +
'_real_and_fake.png',
normalize=True)
coil_logger.add_image("Images", imgs_to_save, iteration)
##--------------------Discriminator part!!!!!!!!!!-------------------##
set_requires_grad(netD, True)
set_requires_grad(netF, False)
set_requires_grad(netG, False)
optimD.zero_grad()
##fake
fake_inputs_forD = fake_img_pool.query(fake_inputs.detach())
outputsD_fake_forD = netD(fake_inputs_forD.detach())
labsize = outputsD_fake_forD.size()
labels_fake = torch.zeros(labsize) #Fake labels
label_fake_noise = torch.rand(
labels_fake.size()) * 0.05 - 0.025 #Label smoothing
if g_conf.LABSMOOTH == 1:
labels_fake = labels_fake + labels_fake_noise
labels_fake = Variable(labels_fake).cuda()
lossD_fake = Loss(outputsD_fake_forD, labels_fake)
##real
outputsD_real = netD(inputs)
labsize = outputsD_real.size()
labels_real = torch.ones(labsize) #Real labels
label_real_noise = torch.rand(
labels_real.size()) * 0.05 - 0.025 #Label smoothing
if g_conf.LABSMOOTH == 1:
labels_real = labels_real + labels_real_noise
labels_real = Variable(labels_real).cuda()
lossD_real = Loss(outputsD_real, labels_real)
#Discriminator updates
lossD = (lossD_real + lossD_fake) * 0.5
lossD /= len(inputs)
lossD.backward()
optimD.step()
coil_logger.add_scalar('Total LossD', lossD.data, iteration)
coil_logger.add_scalar('Real LossD', lossD_real.data / len(inputs),
iteration)
coil_logger.add_scalar('Fake LossD', lossD_fake.data / len(inputs),
iteration)
##--------------------Generator part!!!!!!!!!!-----------------------##
set_requires_grad(netD, False)
set_requires_grad(netF, False)
set_requires_grad(netG, True)
optimG.zero_grad()
outputsD_fake_forG = netD(fake_inputs)
#Generator updates
lossG_adv = Loss(outputsD_fake_forG, labels_real)
lossG_smooth = L1_loss(fake_inputs, inputs)
lossG = (lossG_adv + l1weight * lossG_smooth) / (1.0 + l1weight)
lossG /= len(inputs)
print(lossG)
lossG.backward()
optimG.step()
#####Task network updates##########################
set_requires_grad(netD, False)
set_requires_grad(netF, True)
set_requires_grad(netG, False)
optimF.zero_grad()
lossF = Task_Loss.MSELoss(branches,
dataset.extract_targets(float_data).cuda(),
controls.cuda(),
dataset.extract_inputs(float_data).cuda())
coil_logger.add_scalar('Task Loss', lossF.data, iteration)
lossF.backward()
optimF.step()
coil_logger.add_scalar('Total LossG', lossG.data, iteration)
coil_logger.add_scalar('Adv LossG', lossG_adv.data / len(inputs),
iteration)
coil_logger.add_scalar('Smooth LossG', lossG_smooth.data / len(inputs),
iteration)
#optimization for one iter done!
position = random.randint(0, len(float_data) - 1)
if lossD.data < best_lossD:
best_lossD = lossD.data.tolist()
if lossG.data < best_lossG:
best_lossG = lossG.data.tolist()
best_loss_iter_G = iteration
if lossF.data < best_lossF:
best_lossF = lossF.data.tolist()
best_loss_iter_F = iteration
accumulated_time += time.time() - capture_time
capture_time = time.time()
print("LossD", lossD.data.tolist(), "LossG", lossG.data.tolist(),
"BestLossD", best_lossD, "BestLossG", best_lossG, "LossF", lossF,
"BestLossF", best_lossF, "Iteration", iteration,
"Best Loss Iteration G", best_loss_iter_G,
"Best Loss Iteration F", best_loss_iter_F)
coil_logger.add_message(
'Iterating', {
'Iteration':
iteration,
'LossD':
lossD.data.tolist(),
'LossG':
lossG.data.tolist(),
'Images/s': (iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLossD':
best_lossD,
'BestLossG':
best_lossG,
'BestLossIterationG':
best_loss_iter_G,
'BestLossF':
best_lossF,
'BestLossIterationF':
best_loss_iter_F,
'GroundTruth':
dataset.extract_targets(float_data)[position].data.tolist(),
'Inputs':
dataset.extract_inputs(float_data)[position].data.tolist()
}, iteration)
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'stateF_dict': netF.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'total_time': accumulated_time,
'best_loss_iter_G': best_loss_iter_G,
'best_loss_iter_F': best_loss_iter_F
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'checkpoints',
str(iteration) + '.pth'))
if iteration == best_loss_iter_G and iteration > 10000:
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'stateF_dict': netF.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'total_time': accumulated_time,
'best_loss_iter_G': best_loss_iter_G
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'best_modelG' + '.pth'))
if iteration == best_loss_iter_F and iteration > 10000:
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'stateF_dict': netF.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'best_lossF': best_lossF,
'total_time': accumulated_time,
'best_loss_iter_F': best_loss_iter_F
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'best_modelF' + '.pth'))
iteration += 1
def execute(gpu, exp_batch, exp_alias):
# We set the visible cuda devices
try:
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'))
set_type_of_process('train')
coil_logger.add_message('Loading', {'GPU': gpu})
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
sys.stdout = open(os.path.join(
'_output_logs',
g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
if monitorer.get_status(exp_batch, exp_alias + '.yaml',
g_conf.PROCESS_NAME)[0] == "Finished":
# TODO: print some cool summary or not ?
return
#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"],
g_conf.TRAIN_DATASET_NAME)
#augmenter_cpu = iag.AugmenterCPU(g_conf.AUGMENTATION_SUITE_CPU)
dataset = CoILDataset(full_dataset,
transform=transforms.Compose(
[transforms.ToTensor()]))
# 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.
sampler = BatchSequenceSampler(
splitter.control_steer_split(dataset.measurements,
dataset.meta_data), g_conf.BATCH_SIZE,
g_conf.NUMBER_IMAGES_SEQUENCE, g_conf.SEQUENCE_STRIDE)
# The data loader is the multi threaded module from pytorch that release a number of
# workers to get all the data.
# TODO: batch size an number of workers go to some configuration file
data_loader = torch.utils.data.DataLoader(dataset,
batch_sampler=sampler,
shuffle=False,
num_workers=12,
pin_memory=True)
# By instanciating the augmenter we get a callable that augment images and transform them
# into tensors.
augmenter = iag.Augmenter(g_conf.AUGMENTATION_SUITE)
# TODO: here there is clearly a posibility to make a cool "conditioning" system.
model = CoILModel(g_conf.MODEL_NAME)
model.cuda()
exit()
print(model)
criterion = Loss()
# TODO: DATASET SIZE SEEMS WEIRD
optimizer = optim.SGD(model.parameters(), lr=0.0001, momentum=0.9)
checkpoint_file = get_latest_saved_checkpoint()
if checkpoint_file != None:
checkpoint = torch.load(
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(get_latest_saved_checkpoint())))
iteration = checkpoint['iteration']
accumulated_time = checkpoint['total_time']
best_loss = checkpoint['best_loss']
best_loss_iter = checkpoint['best_loss_iter']
else:
iteration = 0
best_loss = 10000.0
accumulated_time = 0 # We accumulate iteration time and keep the average speed
best_loss_iter = 0
# TODO: The checkpoint will continue, so it should erase everything up to the iteration
print(dataset.meta_data)
print(model)
capture_time = time.time()
for data in data_loader:
input_data, float_data = data
#TODO, ADD ITERATION SCHEDULE
input_rgb_data = augmenter(0, input_data['rgb'])
#coil_logger.add_images(input_rgb_data)
# get the control commands from float_data, size = [120,1]
controls = float_data[:, dataset.controls_position(), :]
print(" CONTROLS ", controls.shape)
# The output(branches) is a list of 5 branches results, each branch is with size [120,3]
model.zero_grad()
print('INPUTS', dataset.extract_inputs(float_data).shape)
branches = model(input_rgb_data,
dataset.extract_inputs(float_data).cuda())
#print ("len ",len(branches))
#targets = torch.cat([steer_gt, gas_gt, brake_gt], 1)
print("Extracted targets ",
dataset.extract_targets(float_data).shape[0])
loss = criterion.MSELoss(
branches,
dataset.extract_targets(float_data).cuda(), controls.cuda(),
dataset.extract_inputs(float_data).cuda())
# TODO: All these logging things could go out to clean up the main
if loss.data < best_loss:
best_loss = loss.data.tolist()
best_loss_iter = iteration
# Log a random position
position = random.randint(0, len(float_data) - 1)
output = model.extract_branch(torch.stack(branches[0:4]), controls)
error = torch.abs(output -
dataset.extract_targets(float_data).cuda())
# TODO: For now we are computing the error for just the correct branch, it could be multi- branch,
coil_logger.add_scalar('Loss', loss.data, iteration)
loss.backward()
optimizer.step()
accumulated_time += time.time() - capture_time
capture_time = time.time()
# TODO: Get only the float_data that are actually generating output
# TODO: itearation is repeating , and that is dumb
coil_logger.add_message(
'Iterating', {
'Iteration':
iteration,
'Loss':
loss.data.tolist(),
'Images/s':
(iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLoss':
best_loss,
'BestLossIteration':
best_loss_iter,
'Output':
output[position].data.tolist(),
'GroundTruth':
dataset.extract_targets(
float_data)[position].data.tolist(),
'Error':
error[position].data.tolist(),
'Inputs':
dataset.extract_inputs(float_data)[position].data.tolist()
}, iteration)
# TODO: For now we are computing the error for just the correct branch, it could be multi-branch,
# TODO: save also the optimizer state dictionary
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'state_dict': model.state_dict(),
'best_loss': best_loss,
'total_time': accumulated_time,
'best_loss_iter': best_loss_iter
}
# TODO : maybe already summarize the best model ???
torch.save(
state,
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(iteration) + '.pth'))
iteration += 1
except KeyboardInterrupt:
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='nocrash',
exp_alias='resnet34imnet10S1',
suppress_output=True,
yaml_file=None):
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.
path_to_yaml_file = os.path.join('configs', exp_batch, exp_alias + '.yaml')
if yaml_file is not None:
path_to_yaml_file = os.path.join(yaml_file, exp_alias + '.yaml')
merge_with_yaml(path_to_yaml_file)
# The validation dataset is always fully loaded, so we fix a very high number of hours
# g_conf.NUMBER_OF_HOURS = 10000 # removed to simplify code
"""
# commenting this segment to simplify code, uncomment if necessary
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"], g_conf.DART_COVMAT_DATA
) # dataset used for computing dart covariance matrix
augmenter = Augmenter(None)
# Definition of the dataset to be used. Preload name is just the validation data name
print('full dataset path: ', full_dataset)
dataset = CoILDataset(full_dataset,
transform=augmenter,
preload_name=g_conf.DART_COVMAT_DATA
) # specify DART_COVMAT_DATA in the config file
# 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)
""" removing this segment to simplify code
# 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(g_conf.DART_COVMAT_DATA, None)
"""
model.cuda()
best_mse = 1000
best_error = 1000
best_mse_iter = 0
best_error_iter = 0
# modified validation code from here to run a single model checkpoint
# used for computing the covariance matrix with the DART model checkpoint
checkpoint = torch.load(
g_conf.DART_MODEL_CHECKPOINT
) # specify DART_MODEL_CHECKPOINT in the config file
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
# considering steer, throttle & brake so 3x3 matrix
normalized_covariate_shift = torch.zeros(3, 3)
print('data_loader size: ', len(data_loader))
for data in data_loader:
# Compute the forward pass on a batch from the validation dataset
controls = data['directions']
output = model.forward_branch(
torch.squeeze(data['rgb']).cuda(),
dataset.extract_inputs(data).cuda(), controls)
""" removing this segment to simplify code
# 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()).data.cpu()
### covariate shift segment starts
error = error.unsqueeze(dim=2)
error_transpose = torch.transpose(error, 1, 2)
# compute covariate shift
covariate_shift = torch.matmul(error, error_transpose)
# expand traj length tensor to Bx3x3 (considering steer, throttle & brake)
traj_lengths = torch.stack([
torch.stack([data['current_traj_length'].squeeze(dim=1)] * 3,
dim=1)
] * 3,
dim=2)
covariate_shift = covariate_shift / traj_lengths
covariate_shift = torch.sum(covariate_shift, dim=0)
# print ('current covariate shift: ', covariate_shift.shape)
normalized_covariate_shift += covariate_shift
### covariate shift segment ends
total_episodes = data['episode_count'][-1].data
iteration_on_checkpoint += 1
if iteration_on_checkpoint % 50 == 0:
print('iteration: ', iteration_on_checkpoint)
print('total episodes: ', total_episodes)
normalized_covariate_shift = normalized_covariate_shift / total_episodes
print('normalized covariate shift: ', normalized_covariate_shift.shape,
normalized_covariate_shift)
# save the matrix to restart directly from the mat file
# np.save(os.path.join(g_conf.COVARIANCE_MATRIX_PATH, 'covariance_matrix_%s.npy'%g_conf.DART_COVMATH_DATA), normalized_covariate_shift)
return normalized_covariate_shift.numpy()
'''
def execute(gpu, exp_batch, exp_alias, dataset_name):
# 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'))
set_type_of_process('validation', dataset_name)
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
sys.stdout = open(os.path.join(
'_output_logs', g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
if monitorer.get_status(exp_batch, exp_alias + '.yaml',
g_conf.PROCESS_NAME)[0] == "Finished":
# TODO: print some cool summary or not ?
return
#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)
dataset = CoILDataset(full_dataset,
transform=transforms.Compose([transforms.ToTensor()
]))
# 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.
# TODO: batch size an number of workers go to some configuration file
data_loader = torch.utils.data.DataLoader(dataset,
batch_size=120,
shuffle=False,
num_workers=12,
pin_memory=True)
# TODO: here there is clearly a posibility to make a cool "conditioning" system.
model = CoILModel(g_conf.MODEL_NAME)
model.cuda()
criterion = Loss()
latest = get_latest_evaluated_checkpoint()
if latest is None: # When nothing was tested, get latest returns none, we fix that.
latest = 0
print(dataset.meta_data)
best_loss = 1000
best_error = 1000
best_loss_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)
accumulated_loss = 0
accumulated_error = 0
iteration_on_checkpoint = 0
for data in data_loader:
input_data, float_data = data
control_position = np.where(
dataset.meta_data[:, 0] == 'control')[0][0]
speed_position = np.where(
dataset.meta_data[:, 0] == 'speed_module')[0][0]
print(torch.squeeze(input_data['rgb']).shape)
print(control_position)
print(speed_position)
# Obs : Maybe we could also check for other branches ??
output = model.forward_branch(
torch.squeeze(input_data['rgb']).cuda(),
float_data[:, speed_position, :].cuda(),
float_data[:, control_position, :].cuda())
for i in range(input_data['rgb'].shape[0]):
coil_logger.write_on_csv(
checkpoint_iteration,
[output[i][0], output[i][1], output[i][2]])
# TODO: Change this a functional standard using the loss functions.
loss = torch.mean(
(output - dataset.extract_targets(float_data).cuda()
)**2).data.tolist()
mean_error = torch.mean(
torch.abs(output -
dataset.extract_targets(float_data).cuda())
).data.tolist()
accumulated_error += mean_error
accumulated_loss += loss
error = torch.abs(output -
dataset.extract_targets(float_data).cuda())
# Log a random position
position = random.randint(0, len(float_data) - 1)
#print (output[position].data.tolist())
coil_logger.add_message(
'Iterating', {
'Checkpoint':
latest,
'Iteration': (str(iteration_on_checkpoint * 120) +
'/' + str(len(dataset))),
'MeanError':
mean_error,
'Loss':
loss,
'Output':
output[position].data.tolist(),
'GroundTruth':
dataset.extract_targets(
float_data)[position].data.tolist(),
'Error':
error[position].data.tolist(),
'Inputs':
dataset.extract_inputs(float_data)
[position].data.tolist()
}, latest)
iteration_on_checkpoint += 1
checkpoint_average_loss = accumulated_loss / len(dataset)
checkpoint_average_error = accumulated_error / len(dataset)
coil_logger.add_scalar('Loss', checkpoint_average_loss, latest)
coil_logger.add_scalar('Error', checkpoint_average_error, latest)
if checkpoint_average_loss < best_loss:
best_loss = checkpoint_average_loss
best_loss_iter = latest
if checkpoint_average_error < best_loss:
best_error = checkpoint_average_error
best_error_iter = latest
coil_logger.add_message(
'Iterating', {
'Summary': {
'Error': checkpoint_average_error,
'Loss': checkpoint_average_loss,
'BestError': best_error,
'BestLoss': best_loss,
'BestLossCheckpoint': best_loss_iter,
'BestErrorCheckpoint': best_error_iter
},
'Checkpoint': latest
})
else:
time.sleep(1)
print("Waiting for the next Validation")
def gen_update(self, x_a, x_b, float_data, hyperparameters):
self.gen_opt.zero_grad()
self.task_opt.zero_grad()
# init data
full_dataset = hyperparameters['train_dataset_name']
real_dataset = hyperparameters['target_domain_path']
dataset = CoILDataset(full_dataset,
transform=transforms.Compose([
transforms.ToTensor(),
transforms.Normalize((0.5, 0.5, 0.5),
(0.5, 0.5, 0.5))
]))
# encode
h_a, n_a = self.gen_a.encode(x_a)
h_b, n_b = self.gen_b.encode(x_b)
# decode (within domain)
x_a_recon = self.gen_a.decode(h_a + n_a)
x_b_recon = self.gen_b.decode(h_b + n_b)
# decode (cross domain)
x_ba = self.gen_a.decode(h_b + n_b)
x_ab = self.gen_b.decode(h_a + n_a)
# encode again
h_b_recon, n_b_recon = self.gen_a.encode(x_ba)
h_a_recon, n_a_recon = self.gen_b.encode(x_ab)
# decode again (if needed)
x_aba = self.gen_a.decode(
h_a_recon +
n_a_recon) if hyperparameters['recon_x_cyc_w'] > 0 else None
x_bab = self.gen_b.decode(
h_b_recon +
n_b_recon) if hyperparameters['recon_x_cyc_w'] > 0 else None
# #task part
identity_embed = h_a
cycle_embed = h_a_recon
identity_task = self.netF(
identity_embed,
Variable(dataset.extract_inputs(float_data)).cuda())
cycle_task = self.netF(
cycle_embed,
Variable(dataset.extract_inputs(float_data)).cuda())
controls = Variable(float_data[:, dataset.controls_position(), :])
# task loss
self.lossF_identity_task = self.Task_Loss.MSELoss(
identity_task,
Variable(dataset.extract_targets(float_data)).cuda(),
controls.cuda(),
Variable(dataset.extract_inputs(float_data)).cuda())
self.lossF_cycle_task = self.Task_Loss.MSELoss(
cycle_task,
Variable(dataset.extract_targets(float_data)).cuda(),
controls.cuda(),
Variable(dataset.extract_inputs(float_data)).cuda())
self.lossF_task = self.lossF_identity_task + self.lossF_cycle_task
# reconstruction loss
# print(x_a_recon[0][0][:5][:5])
# print("Help loss:", self.recon_criterion(x_a_recon, x_a))
# print("identity task", identity_task[0])
# print("cycle task", cycle_task[0])
self.loss_gen_recon_x_a = self.recon_criterion(x_a_recon, x_a)
self.loss_gen_recon_x_b = self.recon_criterion(x_b_recon, x_b)
self.loss_gen_recon_kl_a = self.__compute_kl(h_a)
self.loss_gen_recon_kl_b = self.__compute_kl(h_b)
self.loss_gen_cyc_x_a = self.recon_criterion(x_aba, x_a)
self.loss_gen_cyc_x_b = self.recon_criterion(x_bab, x_b)
self.loss_gen_recon_kl_cyc_aba = self.__compute_kl(h_a_recon)
self.loss_gen_recon_kl_cyc_bab = self.__compute_kl(h_b_recon)
# GAN loss
self.loss_gen_adv_a = self.dis_a.calc_gen_loss(x_ba)
self.loss_gen_adv_b = self.dis_b.calc_gen_loss(x_ab)
# domain-invariant perceptual loss
self.loss_gen_vgg_a = self.compute_vgg_loss(
self.vgg, x_ba, x_b) if hyperparameters['vgg_w'] > 0 else 0
self.loss_gen_vgg_b = self.compute_vgg_loss(
self.vgg, x_ab, x_a) if hyperparameters['vgg_w'] > 0 else 0
# total loss
self.loss_gen_total = hyperparameters['gan_w'] * self.loss_gen_adv_a + \
hyperparameters['gan_w'] * self.loss_gen_adv_b + \
hyperparameters['recon_x_w'] * self.loss_gen_recon_x_a + \
hyperparameters['recon_kl_w'] * self.loss_gen_recon_kl_a + \
hyperparameters['recon_x_w'] * self.loss_gen_recon_x_b + \
hyperparameters['recon_kl_w'] * self.loss_gen_recon_kl_b + \
hyperparameters['recon_x_cyc_w'] * self.loss_gen_cyc_x_a + \
hyperparameters['recon_kl_cyc_w'] * self.loss_gen_recon_kl_cyc_aba + \
hyperparameters['recon_x_cyc_w'] * self.loss_gen_cyc_x_b + \
hyperparameters['recon_kl_cyc_w'] * self.loss_gen_recon_kl_cyc_bab + \
hyperparameters['vgg_w'] * self.loss_gen_vgg_a + \
hyperparameters['vgg_w'] * self.loss_gen_vgg_b + \
hyperparameters['task_w'] * self.lossF_task
self.loss_gen_total.backward()
self.gen_opt.step()
self.task_opt.zero_grad()
identity_task = self.netF(
identity_embed,
Variable(dataset.extract_inputs(float_data)).cuda())
cycle_task = self.netF(
cycle_embed,
Variable(dataset.extract_inputs(float_data)).cuda())
controls = Variable(float_data[:, dataset.controls_position(), :])
# task loss
self.lossF_identity_task = self.Task_Loss.MSELoss(
identity_task,
Variable(dataset.extract_targets(float_data)).cuda(),
controls.cuda(),
Variable(dataset.extract_inputs(float_data)).cuda())
self.lossF_cycle_task = self.Task_Loss.MSELoss(
cycle_task,
Variable(dataset.extract_targets(float_data)).cuda(),
controls.cuda(),
Variable(dataset.extract_inputs(float_data)).cuda())
self.lossF_task = self.lossF_identity_task + self.lossF_cycle_task
self.task_opt.step()
def execute(gpu, exp_batch, exp_alias):
from time import gmtime, strftime
manualSeed = g_conf.SEED
torch.cuda.manual_seed(manualSeed)
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
merge_with_yaml(os.path.join('configs', exp_batch, exp_alias + '.yaml'))
set_type_of_process('train')
coil_logger.add_message('Loading', {'GPU': gpu})
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
sys.stdout = open(os.path.join('_output_logs',
g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"), "a", buffering=1)
if monitorer.get_status(exp_batch, exp_alias + '.yaml', g_conf.PROCESS_NAME)[0] == "Finished":
return
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"], g_conf.TRAIN_DATASET_NAME)
real_dataset = '/datatmp/Datasets/UNIT_LW1toEW12/trainB' # os.path.join(os.environ["COIL_DATASET_PATH"], "FinalRealWorldDataset")
#main data loader
dataset = CoILDataset(full_dataset, real_dataset, transform=transforms.Compose([transforms.ToTensor()]))
sampler = BatchSequenceSampler(splitter.control_steer_split(dataset.measurements, dataset.meta_data),
g_conf.BATCH_SIZE, g_conf.NUMBER_IMAGES_SEQUENCE, g_conf.SEQUENCE_STRIDE)
data_loader = torch.utils.data.DataLoader(dataset, batch_sampler=sampler,
shuffle=False, num_workers=6, pin_memory=True)
st = lambda aug: iag.Sometimes(aug, 0.4)
oc = lambda aug: iag.Sometimes(aug, 0.3)
rl = lambda aug: iag.Sometimes(aug, 0.09)
augmenter = iag.Augmenter([iag.ToGPU()] + [
rl(iag.GaussianBlur((0, 1.5))), # blur images with a sigma between 0 and 1.5
rl(iag.AdditiveGaussianNoise(loc=0, scale=(0.0, 0.05), per_channel=0.5)), # add gaussian noise to images
oc(iag.Dropout((0.0, 0.10), per_channel=0.5)), # randomly remove up to X% of the pixels
oc(iag.CoarseDropout((0.0, 0.10), size_percent=(0.08, 0.2),per_channel=0.5)), # randomly remove up to X% of the pixels
oc(iag.Add((-40, 40), per_channel=0.5)), # change brightness of images (by -X to Y of original value)
st(iag.Multiply((0.10, 2), per_channel=0.2)), # change brightness of images (X-Y% of original value)
rl(iag.ContrastNormalization((0.5, 1.5), per_channel=0.5)), # improve or worsen the contrast
rl(iag.Grayscale((0.0, 1))), # put grayscale
]# do all of the above in random order
)
l1weight = g_conf.L1_WEIGHT
task_adv_weight = g_conf.TASK_ADV_WEIGHT
image_size = tuple([88, 200])
print(strftime("%Y-%m-%d %H:%M:%S", gmtime()))
print("Configurations of ", exp_alias)
print("GANMODEL_NAME", g_conf.GANMODEL_NAME)
print("LOSS_FUNCTION", g_conf.LOSS_FUNCTION)
print("LR_G, LR_D, LR", g_conf.LR_G, g_conf.LR_D, g_conf.LEARNING_RATE)
print("SKIP", g_conf.SKIP)
print("TYPE", g_conf.TYPE)
print("L1 WEIGHT", g_conf.L1_WEIGHT)
print("TASK ADV WEIGHT", g_conf.TASK_ADV_WEIGHT)
print("LAB SMOOTH", g_conf.LABSMOOTH)
if g_conf.GANMODEL_NAME == 'LSDcontrol':
netD = ganmodels._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels._netG(loss=g_conf.LOSS_FUNCTION, skip=g_conf.SKIP).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_nopatch':
netD = ganmodels_nopatch._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_nopatch._netG(loss=g_conf.LOSS_FUNCTION).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_nopatch_smaller':
netD = ganmodels_nopatch_smaller._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_nopatch_smaller._netG(loss=g_conf.LOSS_FUNCTION).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_task':
netD = ganmodels_task._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netF = ganmodels_task._netF(loss=g_conf.LOSS_FUNCTION).cuda()
if g_conf.PRETRAINED == 'RECON':
netF_statedict = torch.load('netF_GAN_Pretrained.wts')
netF.load_state_dict(netF_statedict)
elif g_conf.PRETRAINED == 'IL':
print("Loading IL")
model_IL = torch.load('best_loss_20-06_EpicClearWeather.pth')
model_IL_state_dict = model_IL['state_dict']
netF_state_dict = netF.state_dict()
print(len(netF_state_dict.keys()), len(model_IL_state_dict.keys()))
for i, keys in enumerate(zip(netF_state_dict.keys(), model_IL_state_dict.keys())):
newkey, oldkey = keys
# if newkey.split('.')[0] == "branch" and oldkey.split('.')[0] == "branches":
# print("No Transfer of ", newkey, " to ", oldkey)
# else:
print("Transferring ", newkey, " to ", oldkey)
netF_state_dict[newkey] = model_IL_state_dict[oldkey]
netF.load_state_dict(netF_state_dict)
print("IL Model Loaded!")
elif g_conf.GANMODEL_NAME == 'LSDcontrol_task_2d':
netD_bin = ganmodels_task._netD_task().cuda()
netF = ganmodels_task._netF().cuda()
if g_conf.PRETRAINED == 'IL':
print("Loading IL")
model_IL = torch.load('Encoder_IL.pth')
model_IL_state_dict = model_IL['state_dict']
netF_state_dict = netF.state_dict()
print(len(netF_state_dict.keys()), len(model_IL_state_dict.keys()))
for i, keys in enumerate(zip(netF_state_dict.keys(), model_IL_state_dict.keys())):
newkey, oldkey = keys
print("Transferring ", newkey, " to ", oldkey)
netF_state_dict[newkey] = model_IL_state_dict[oldkey]
netF.load_state_dict(netF_state_dict)
print("IL Model Loaded!")
init_weights(netD_bin)
print(netD_bin)
print(netF)
optimD_bin = torch.optim.Adam(netD_bin.parameters(), lr=g_conf.LR_D, betas=(0.5, 0.999))
if g_conf.TYPE =='task':
optimF = torch.optim.Adam(netF.parameters(), lr=g_conf.LEARNING_RATE)
Task_Loss = TaskLoss()
if g_conf.GANMODEL_NAME == 'LSDcontrol_task_2d':
print("Using cross entropy!")
Loss = torch.nn.CrossEntropyLoss().cuda()
L1_loss = torch.nn.L1Loss().cuda()
iteration = 0
best_loss_iter_F = 0
best_loss_iter_G = 0
best_lossF = 1000000.0
best_lossD = 1000000.0
best_lossG = 1000000.0
accumulated_time = 0
gen_iterations = 0
n_critic = g_conf.N_CRITIC
lossF = Variable(torch.Tensor([100.0]))
lossG_adv = Variable(torch.Tensor([100.0]))
lossG_smooth = Variable(torch.Tensor([100.0]))
lossG = Variable(torch.Tensor([100.0]))
netD_bin.train()
netF.train()
capture_time = time.time()
if not os.path.exists('./imgs_' + exp_alias):
os.mkdir('./imgs_' + exp_alias)
#TODO check how C network is optimized in LSDSEG
#TODO put family for losses
#IMPORTANT WHILE RUNNING THIS, CONV.PY MUST HAVE BATCHNORMS
fake_img_pool_src = ImagePool(50)
fake_img_pool_tgt = ImagePool(50)
for data in data_loader:
set_requires_grad(netD_bin, True)
set_requires_grad(netF, True)
# print("ITERATION:", iteration)
val = 0.0
input_data, float_data, tgt_imgs = data
if g_conf.IF_AUG:
inputs = augmenter(0, input_data['rgb'])
tgt_imgs = augmenter(0, tgt_imgs)
else:
inputs = input_data['rgb'].cuda()
tgt_imgs = tgt_imgs.cuda()
inputs = inputs.squeeze(1)
inputs = inputs - val #subtracted by 0.5
tgt_imgs = tgt_imgs - val #subtracted by 0.5
controls = float_data[:, dataset.controls_position(), :]
src_embed_inputs, src_branches = netF(inputs, dataset.extract_inputs(float_data).cuda())
tgt_embed_inputs = netF(tgt_imgs, None)
##--------------------Discriminator part!!!!!!!!!!-------------------##
set_requires_grad(netD_bin, True)
set_requires_grad(netF, False)
optimD_bin.zero_grad()
outputsD_real_src_bin = netD_bin(src_embed_inputs)
outputsD_real_tgt_bin = netD_bin(tgt_embed_inputs)
gradient_penalty = calc_gradient_penalty(netD_bin, src_embed_inputs, tgt_embed_inputs)
lossD_bin = torch.mean(outputsD_real_tgt_bin - outputsD_real_src_bin) + gradient_penalty
lossD_bin.backward(retain_graph=True)
optimD_bin.step()
coil_logger.add_scalar('Total LossD Bin', lossD_bin.data, iteration)
if ((iteration + 1) % n_critic) == 0:
#####Task network updates##########################
set_requires_grad(netD_bin, False)
set_requires_grad(netF, True)
optimF.zero_grad()
src_embed_inputs, src_branches = netF(inputs, dataset.extract_inputs(float_data).cuda())
tgt_embed_inputs = netF(tgt_imgs, None)
lossF_task = Task_Loss.MSELoss(src_branches, dataset.extract_targets(float_data).cuda(),
controls.cuda(), dataset.extract_inputs(float_data).cuda())
lossF_adv = netD_bin(src_embed_inputs).mean() - netD_bin(tgt_embed_inputs).mean()
lossF = (lossF_task + task_adv_weight * lossF_adv)
coil_logger.add_scalar('Total Task Loss', lossF.data, iteration)
coil_logger.add_scalar('Adv Task Loss', lossF_adv.data, iteration)
coil_logger.add_scalar('Only Task Loss', lossF_task.data, iteration)
lossF.backward(retain_graph=True)
optimF.step()
if lossF_task.data < best_lossF:
best_lossF = lossF_task.data.tolist()
best_loss_iter_F = iteration
print ("Iteration", iteration, "Best loss F", best_lossF, "BestLossIteration", best_loss_iter_F)
#optimization for one iter done!
position = random.randint(0, len(float_data)-1)
accumulated_time += time.time() - capture_time
capture_time = time.time()
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'stateD_bin_dict': netD_bin.state_dict(),
'stateF_dict': netF.state_dict(),
'best_lossD': best_lossD,
'total_time': accumulated_time,
'best_loss_iter_F': best_loss_iter_F
}
torch.save(state, os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch, exp_alias
, 'checkpoints', str(iteration) + '.pth'))
if iteration == best_loss_iter_F and iteration > 10000:
state = {
'iteration': iteration,
'stateD_bin_dict': netD_bin.state_dict(),
'stateF_dict': netF.state_dict(),
'best_lossD': best_lossD,
'best_lossF': best_lossF,
'total_time': accumulated_time,
'best_loss_iter_F': best_loss_iter_F
}
torch.save(state, os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch, exp_alias
, 'best_modelF' + '.pth'))
iteration += 1
def execute(gpu, exp_batch, exp_alias):
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
merge_with_yaml(os.path.join('configs', exp_batch, exp_alias + '.yaml'))
set_type_of_process('train')
coil_logger.add_message('Loading', {'GPU': gpu})
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
sys.stdout = open(os.path.join(
'_output_logs', g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
if monitorer.get_status(exp_batch, exp_alias + '.yaml',
g_conf.PROCESS_NAME)[0] == "Finished":
return
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
g_conf.TRAIN_DATASET_NAME)
dataset = CoILDataset(full_dataset,
transform=transforms.Compose([transforms.ToTensor()
]))
sampler = BatchSequenceSampler(
splitter.control_steer_split(dataset.measurements,
dataset.meta_data), g_conf.BATCH_SIZE,
g_conf.NUMBER_IMAGES_SEQUENCE, g_conf.SEQUENCE_STRIDE)
data_loader = torch.utils.data.DataLoader(dataset,
batch_sampler=sampler,
shuffle=False,
num_workers=6,
pin_memory=True)
l1weight = g_conf.L1_WEIGHT
image_size = tuple([88, 200])
print("Configurations of ", exp_alias)
print("GANMODEL_NAME", g_conf.GANMODEL_NAME)
print("LOSS_FUNCTION", g_conf.LOSS_FUNCTION)
print("LR_G, LR_D, LR", g_conf.LR_G, g_conf.LR_D, g_conf.LEARNING_RATE)
print("SKIP", g_conf.SKIP)
print("TYPE", g_conf.TYPE)
print("L1 WEIGHT", g_conf.L1_WEIGHT)
print("LAB SMOOTH", g_conf.LABSMOOTH)
if g_conf.GANMODEL_NAME == 'LSDcontrol':
netD = ganmodels._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels._netG(loss=g_conf.LOSS_FUNCTION,
skip=g_conf.SKIP).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_nopatch':
netD = ganmodels_nopatch._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_nopatch._netG(loss=g_conf.LOSS_FUNCTION).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_nopatch_smaller':
netD = ganmodels_nopatch_smaller._netD(
loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_nopatch_smaller._netG(
loss=g_conf.LOSS_FUNCTION).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_task':
netD = ganmodels_task._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_task._netG(loss=g_conf.LOSS_FUNCTION).cuda()
netF = ganmodels_task._netG(loss=g_conf.LOSS_FUNCTION).cuda()
init_weights(netD)
init_weights(netG)
print(netD)
print(netG)
optimD = torch.optim.Adam(netD.parameters(),
lr=g_conf.LR_D,
betas=(0.7, 0.999))
optimG = torch.optim.Adam(netG.parameters(),
lr=g_conf.LR_G,
betas=(0.7, 0.999))
if g_conf.TYPE == 'task':
optimF = torch.optim.Adam(netG.parameters(),
lr=g_conf.LEARNING_RATE,
betas=(0.7, 0.999))
Task_Loss = TaskLoss()
if g_conf.LOSS_FUNCTION == 'LSGAN':
Loss = torch.nn.MSELoss().cuda()
elif g_conf.LOSS_FUNCTION == 'NORMAL':
Loss = torch.nn.BCELoss().cuda()
L1_loss = torch.nn.L1Loss().cuda()
iteration = 0
best_loss_iter = 0
best_lossD = 1000000.0
best_lossG = 1000000.0
accumulated_time = 0
netG.train()
netD.train()
capture_time = time.time()
if not os.path.exists('./imgs_' + exp_alias):
os.mkdir('./imgs_' + exp_alias)
#TODO add image queue
#TODO add auxiliary regression loss for steering
#TODO put family for losses
fake_img_pool = ImagePool(50)
for data in data_loader:
val = 0.5
input_data, float_data = data
inputs = input_data['rgb'].cuda()
inputs = inputs.squeeze(1)
inputs_in = inputs - val
fake_inputs = netG(inputs_in) #subtracted by 0.5
fake_inputs_in = fake_inputs
if iteration % 200 == 0:
imgs_to_save = torch.cat((inputs_in[:2] + val, fake_inputs_in[:2]),
0).cpu().data
vutils.save_image(imgs_to_save,
'./imgs_' + exp_alias + '/' + str(iteration) +
'_real_and_fake.png',
normalize=True)
coil_logger.add_image("Images", imgs_to_save, iteration)
##--------------------Discriminator part!!!!!!!!!!-------------------##
set_requires_grad(netD, True)
optimD.zero_grad()
##fake
fake_inputs_forD = fake_img_pool.query(fake_inputs)
outputsD_fake_forD = netD(fake_inputs_forD.detach())
labsize = outputsD_fake_forD.size()
labels_fake = torch.zeros(labsize) #Fake labels
label_fake_noise = torch.rand(
labels_fake.size()) * 0.05 - 0.025 #Label smoothing
if g_conf.LABSMOOTH == 1:
labels_fake = labels_fake + labels_fake_noise
labels_fake = Variable(labels_fake).cuda()
lossD_fake = Loss(outputsD_fake_forD, labels_fake)
##real
outputsD_real = netD(inputs)
print("some d outputs", outputsD_real[0])
labsize = outputsD_real.size()
labels_real = torch.ones(labsize) #Real labels
label_real_noise = torch.rand(
labels_real.size()) * 0.05 - 0.025 #Label smoothing
if g_conf.LABSMOOTH == 1:
labels_real = labels_real + labels_real_noise
labels_real = Variable(labels_real).cuda()
lossD_real = Loss(outputsD_real, labels_real)
#Discriminator updates
lossD = (lossD_real + lossD_fake) * 0.5
# lossD /= len(inputs)
lossD.backward()
optimD.step()
coil_logger.add_scalar('Total LossD', lossD.data, iteration)
coil_logger.add_scalar('Real LossD', lossD_real.data, iteration)
coil_logger.add_scalar('Fake LossD', lossD_fake.data, iteration)
##--------------------Generator part!!!!!!!!!!-----------------------
set_requires_grad(netD, False)
optimG.zero_grad()
outputsD_fake_forG = netD(fake_inputs)
#Generator updates
lossG_adv = Loss(outputsD_fake_forG, labels_real)
lossG_smooth = L1_loss(fake_inputs, inputs)
lossG = (lossG_adv + l1weight * lossG_smooth) / (1.0 + l1weight)
lossG
lossG.backward()
optimG.step()
coil_logger.add_scalar('Total LossG', lossG.data, iteration)
coil_logger.add_scalar('Adv LossG', lossG_adv.data, iteration)
coil_logger.add_scalar('Smooth LossG', lossG_smooth.data, iteration)
#optimization for one iter done!
position = random.randint(0, len(float_data) - 1)
if lossD.data < best_lossD:
best_lossD = lossD.data.tolist()
if lossG.data < best_lossG:
best_lossG = lossG.data.tolist()
best_loss_iter = iteration
accumulated_time += time.time() - capture_time
capture_time = time.time()
print("LossD", lossD.data.tolist(), "LossG", lossG.data.tolist(),
"BestLossD", best_lossD, "BestLossG", best_lossG, "Iteration",
iteration, "Best Loss Iteration", best_loss_iter)
coil_logger.add_message(
'Iterating', {
'Iteration':
iteration,
'LossD':
lossD.data.tolist(),
'LossG':
lossG.data.tolist(),
'Images/s': (iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLossD':
best_lossD,
'BestLossIteration':
best_loss_iter,
'BestLossG':
best_lossG,
'BestLossIteration':
best_loss_iter,
'GroundTruth':
dataset.extract_targets(float_data)[position].data.tolist(),
'Inputs':
dataset.extract_inputs(float_data)[position].data.tolist()
}, iteration)
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'total_time': accumulated_time,
'best_loss_iter': best_loss_iter
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'checkpoints',
str(iteration) + '.pth'))
if iteration == best_loss_iter:
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'total_time': accumulated_time,
'best_loss_iter': best_loss_iter
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'best_modelG' + '.pth'))
iteration += 1
def execute(gpu, exp_batch, exp_alias, dataset_name, suppress_output):
latest = None
try:
os.environ["CUDA_VISIBLE_DEVICES"] = ','.join(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)
# 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)
# 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()
if torch.cuda.device_count() > 1:
model = torch.nn.DataParallel(model)
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']
if torch.cuda.device_count() > 1:
output = model.module.forward_branch(torch.squeeze(data['rgb']).cuda(),
dataset.extract_inputs(data).cuda(),
controls)
else:
output = model.forward_branch(torch.squeeze(data['rgb']).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)
# print ('checkpoint: ', latest)
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,
suppress_output=True,
number_of_workers=12):
"""
The main training function. This functions loads the latest checkpoint
for a given, exp_batch (folder) and exp_alias (experiment configuration).
With this checkpoint it starts from the beginning or continue some training.
Args:
gpu: The GPU number
exp_batch: the folder with the experiments
exp_alias: the alias, experiment name
suppress_output: if the output are going to be saved on a file
number_of_workers: the number of threads used for data loading
Returns:
None
"""
try:
# We set the visible cuda devices to select the GPU
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
g_conf.VARIABLE_WEIGHT = {}
# At this point the log file with the correct naming is created.
# You merge the yaml file with the global configuration structure.
merge_with_yaml(os.path.join('configs', exp_batch,
exp_alias + '.yaml'))
set_type_of_process('train')
# Set the process into loading status.
coil_logger.add_message('Loading', {'GPU': gpu})
# Seed RNGs
torch.manual_seed(g_conf.MAGICAL_SEED)
random.seed(g_conf.MAGICAL_SEED)
# Put the output to a separate file if it is the case
if suppress_output:
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
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)
if coil_logger.check_finish('train'):
coil_logger.add_message('Finished', {})
return
# Preload option
if g_conf.PRELOAD_MODEL_ALIAS is not None:
checkpoint = torch.load(
os.path.join('_logs', g_conf.PRELOAD_MODEL_BATCH,
g_conf.PRELOAD_MODEL_ALIAS, 'checkpoints',
str(g_conf.PRELOAD_MODEL_CHECKPOINT) + '.pth'))
# Get the latest checkpoint to be loaded
# returns none if there are no checkpoints saved for this model
checkpoint_file = get_latest_saved_checkpoint()
if checkpoint_file is not None:
checkpoint = torch.load(
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(get_latest_saved_checkpoint())))
iteration = checkpoint['iteration']
best_loss = checkpoint['best_loss']
best_loss_iter = checkpoint['best_loss_iter']
else:
iteration = 0
best_loss = 10000.0
best_loss_iter = 0
# Define the dataset.
# Can specify a list of training datasets or just a single training dataset
if len(g_conf.TRAIN_DATASET_NAMES) == 0:
train_dataset_list = [g_conf.TRAIN_DATASET_NAME]
else:
train_dataset_list = g_conf.TRAIN_DATASET_NAMES
full_dataset = [
os.path.join(os.environ["COIL_DATASET_PATH"], dataset_name)
for dataset_name in train_dataset_list
]
# By instantiating the augmenter we get a callable that augment images and transform them
# into tensors.
augmenter = Augmenter(g_conf.AUGMENTATION)
# Instantiate the class used to read a dataset. The coil dataset generator
# can be found
dataset = CoILDataset(full_dataset,
transform=augmenter,
preload_names=[
str(g_conf.NUMBER_OF_HOURS) + 'hours_' +
dataset_name
for dataset_name in train_dataset_list
],
train_dataset=True)
print("Loaded dataset")
# Create dataloader, model, and optimizer
data_loader = select_balancing_strategy(dataset, iteration,
number_of_workers)
model = CoILModel(g_conf.MODEL_TYPE, g_conf.MODEL_CONFIGURATION)
model.cuda()
optimizer = optim.Adam(model.parameters(), lr=g_conf.LEARNING_RATE)
# If we have a previous checkpoint, load model, optimizer, and record of previous
# train loss values (used for the learning rate schedule)
if checkpoint_file is not None or g_conf.PRELOAD_MODEL_ALIAS is not None:
model.load_state_dict(checkpoint['state_dict'])
optimizer.load_state_dict(checkpoint['optimizer'])
accumulated_time = checkpoint['total_time']
loss_window = coil_logger.recover_loss_window('train', iteration)
else: # We accumulate iteration time and keep the average speed
accumulated_time = 0
loss_window = []
print("Before the loss")
# Define control loss function
criterion = Loss(g_conf.LOSS_FUNCTION)
if iteration == 0 and is_ready_to_save(iteration):
state = {
'iteration': iteration,
'state_dict': model.state_dict(),
'best_loss': best_loss,
'total_time': accumulated_time,
'optimizer': optimizer.state_dict(),
'best_loss_iter': best_loss_iter
}
torch.save(
state,
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(iteration) + '.pth'))
# Training loop
for data in data_loader:
# Basically in this mode of execution, we validate every X Steps, if it goes up 3 times,
# add a stop on the _logs folder that is going to be read by this process
if g_conf.FINISH_ON_VALIDATION_STALE is not None and \
check_loss_validation_stopped(iteration, g_conf.FINISH_ON_VALIDATION_STALE):
break
"""
####################################
Main optimization loop
####################################
"""
iteration += 1
# Adjust learning rate based on training loss
if iteration % 1000 == 0:
adjust_learning_rate_auto(optimizer, loss_window)
capture_time = time.time()
model.zero_grad()
controls = data['directions']
# Run model forward and get outputs
# First case corresponds to training squeeze network, second case corresponds to training driving model without
# mimicking losses, last case corresponds to training mimic network
if "seg" in g_conf.SENSORS.keys():
branches = model(data,
dataset.extract_inputs(data).cuda(),
dataset.extract_intentions(data).cuda())
elif not g_conf.USE_REPRESENTATION_LOSS:
branches = model(data, dataset.extract_inputs(data).cuda())
else:
branches, intermediate_reps = model(
data,
dataset.extract_inputs(data).cuda())
# Compute control loss
targets_to_use = dataset.extract_targets(data)
loss_function_params = {
'branches': branches,
'targets': targets_to_use.cuda(),
'controls': controls.cuda(),
'inputs': dataset.extract_inputs(data).cuda(),
'branch_weights': g_conf.BRANCH_LOSS_WEIGHT,
'variable_weights': g_conf.VARIABLE_WEIGHT
}
loss, _ = criterion(loss_function_params)
# Compute mimicking loss
if g_conf.USE_REPRESENTATION_LOSS:
expert_reps = dataset.extract_representations(data)
# Seg mask mimicking loss
if g_conf.USE_PERCEPTION_REP_LOSS:
perception_rep_loss_elementwise = (
intermediate_reps[0] - expert_reps[0].cuda())**2
perception_rep_loss = g_conf.PERCEPTION_REP_WEIGHT * torch.sum(
perception_rep_loss_elementwise) / branches[0].shape[0]
else:
perception_rep_loss = torch.tensor(0.).cuda()
# Speed mimicking loss
if g_conf.USE_SPEED_REP_LOSS:
speed_rep_loss_elementwise = (intermediate_reps[1] -
expert_reps[1].cuda())**2
speed_rep_loss = g_conf.SPEED_REP_WEIGHT * torch.sum(
speed_rep_loss_elementwise) / branches[0].shape[0]
else:
speed_rep_loss = torch.tensor(0.).cuda()
# Stop intentions mimicking loss
if g_conf.USE_INTENTION_REP_LOSS:
intentions_rep_loss_elementwise = (
intermediate_reps[2] - expert_reps[2].cuda())**2
intentions_rep_loss = g_conf.INTENTIONS_REP_WEIGHT * torch.sum(
intentions_rep_loss_elementwise) / branches[0].shape[0]
else:
intentions_rep_loss = torch.tensor(0.).cuda()
rep_loss = g_conf.REP_LOSS_WEIGHT * (
perception_rep_loss + speed_rep_loss + intentions_rep_loss)
overall_loss = loss + rep_loss
else:
overall_loss = loss
overall_loss.backward()
optimizer.step()
"""
####################################
Saving the model if necessary
####################################
"""
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'state_dict': model.state_dict(),
'best_loss': best_loss,
'total_time': accumulated_time,
'optimizer': optimizer.state_dict(),
'best_loss_iter': best_loss_iter
}
torch.save(
state,
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(iteration) + '.pth'))
"""
################################################
Adding tensorboard logs.
Making calculations for logging purposes.
These logs are monitored by the printer module.
#################################################
"""
coil_logger.add_scalar('Loss', loss.data, iteration)
if g_conf.USE_REPRESENTATION_LOSS:
coil_logger.add_scalar('Perception Rep Loss',
perception_rep_loss.data, iteration)
coil_logger.add_scalar('Speed Rep Loss', speed_rep_loss.data,
iteration)
coil_logger.add_scalar('Intentions Rep Loss',
intentions_rep_loss.data, iteration)
coil_logger.add_scalar('Overall Rep Loss', rep_loss.data,
iteration)
coil_logger.add_scalar('Total Loss', overall_loss.data,
iteration)
if 'rgb' in data:
coil_logger.add_image('Image', torch.squeeze(data['rgb']),
iteration)
if overall_loss.data < best_loss:
best_loss = overall_loss.data.tolist()
best_loss_iter = iteration
# Log a random position
position = random.randint(0, len(data) - 1)
output = model.extract_branch(torch.stack(branches[0:4]), controls)
error = torch.abs(output - targets_to_use.cuda())
accumulated_time += time.time() - capture_time
# Log to terminal and log file
if g_conf.USE_REPRESENTATION_LOSS:
coil_logger.add_message(
'Iterating', {
'Iteration':
iteration,
'Loss':
overall_loss.data.tolist(),
'Control Loss':
loss.data.tolist(),
'Rep Loss':
rep_loss.data.tolist(),
'Images/s':
(iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLoss':
best_loss,
'BestLossIteration':
best_loss_iter,
'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()
}, iteration)
else:
coil_logger.add_message(
'Iterating', {
'Iteration':
iteration,
'Loss':
loss.data.tolist(),
'Images/s':
(iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLoss':
best_loss,
'BestLossIteration':
best_loss_iter,
'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()
}, iteration)
# Save training loss history (useful for restoring training runs since learning rate is adjusted
# based on training loss)
loss_window.append(overall_loss.data.tolist())
coil_logger.write_on_error_csv('train', overall_loss.data)
print("Iteration: %d Loss: %f" % (iteration, overall_loss.data))
coil_logger.add_message('Finished', {})
except KeyboardInterrupt:
coil_logger.add_message('Error', {'Message': 'Killed By User'})
except RuntimeError as e:
coil_logger.add_message('Error', {'Message': str(e)})
except:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Something Happened'})
def execute(gpu, exp_batch, exp_alias):
os.environ["CUDA_VISIBLE_DEVICES"] = gpu
merge_with_yaml(os.path.join('configs', exp_batch, exp_alias + '.yaml'))
set_type_of_process('train')
coil_logger.add_message('Loading', {'GPU': gpu})
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
sys.stdout = open(os.path.join(
'_output_logs', g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
if monitorer.get_status(exp_batch, exp_alias + '.yaml',
g_conf.PROCESS_NAME)[0] == "Finished":
return
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
g_conf.TRAIN_DATASET_NAME)
real_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
"FinalRealWorldDataset")
#main data loader
dataset = CoILDataset(full_dataset,
real_dataset,
transform=transforms.Compose([transforms.ToTensor()
]))
sampler = BatchSequenceSampler(
splitter.control_steer_split(dataset.measurements,
dataset.meta_data), g_conf.BATCH_SIZE,
g_conf.NUMBER_IMAGES_SEQUENCE, g_conf.SEQUENCE_STRIDE)
data_loader = torch.utils.data.DataLoader(dataset,
batch_sampler=sampler,
shuffle=False,
num_workers=6,
pin_memory=True)
l1weight = g_conf.L1_WEIGHT
image_size = tuple([88, 200])
if g_conf.TRAIN_TYPE == 'WGAN':
clamp_value = g_conf.CLAMP
n_critic = g_conf.N_CRITIC
print("Configurations of ", exp_alias)
print("GANMODEL_NAME", g_conf.GANMODEL_NAME)
print("LOSS_FUNCTION", g_conf.LOSS_FUNCTION)
print("LR_G, LR_D, LR", g_conf.LR_G, g_conf.LR_D, g_conf.LEARNING_RATE)
print("SKIP", g_conf.SKIP)
print("TYPE", g_conf.TYPE)
print("L1 WEIGHT", g_conf.L1_WEIGHT)
print("LAB SMOOTH", g_conf.LABSMOOTH)
if g_conf.GANMODEL_NAME == 'LSDcontrol':
netD = ganmodels._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels._netG(loss=g_conf.LOSS_FUNCTION,
skip=g_conf.SKIP).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_nopatch':
netD = ganmodels_nopatch._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_nopatch._netG(loss=g_conf.LOSS_FUNCTION).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_nopatch_smaller':
netD = ganmodels_nopatch_smaller._netD(
loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_nopatch_smaller._netG(
loss=g_conf.LOSS_FUNCTION).cuda()
elif g_conf.GANMODEL_NAME == 'LSDcontrol_task':
netD = ganmodels_task._netD(loss=g_conf.LOSS_FUNCTION).cuda()
netG = ganmodels_task._netG(loss=g_conf.LOSS_FUNCTION).cuda()
netF = ganmodels_task._netF(loss=g_conf.LOSS_FUNCTION).cuda()
if g_conf.PRETRAINED == 'RECON':
netF_statedict = torch.load('netF_GAN_Pretrained.wts')
netF.load_state_dict(netF_statedict)
elif g_conf.PRETRAINED == 'IL':
model_IL = torch.load('best_loss_20-06_EpicClearWeather.pth')
model_IL_state_dict = model_IL['state_dict']
netF_state_dict = netF.state_dict()
for i, keys in enumerate(
zip(netF_state_dict.keys(), model_IL_state_dict.keys())):
newkey, oldkey = keys
if newkey.split('.')[0] == "branch" and oldkey.split(
'.')[0] == "branches":
print("No Transfer of ", newkey, " to ", oldkey)
else:
print("Transferring ", newkey, " to ", oldkey)
netF_state_dict[newkey] = model_IL_state_dict[oldkey]
netF.load_state_dict(netF_state_dict)
init_weights(netD)
init_weights(netG)
#do init for netF also later but now it is in the model code itself
print(netD)
print(netF)
print(netG)
optimD = torch.optim.Adam(netD.parameters(),
lr=g_conf.LR_D,
betas=(0.5, 0.999))
optimG = torch.optim.Adam(netG.parameters(),
lr=g_conf.LR_G,
betas=(0.5, 0.999))
if g_conf.TYPE == 'task':
optimF = torch.optim.Adam(netF.parameters(), lr=g_conf.LEARNING_RATE)
Task_Loss = TaskLoss()
if g_conf.LOSS_FUNCTION == 'LSGAN':
Loss = torch.nn.MSELoss().cuda()
elif g_conf.LOSS_FUNCTION == 'NORMAL':
Loss = torch.nn.BCEWithLogitsLoss().cuda()
L1_loss = torch.nn.L1Loss().cuda()
iteration = 0
best_loss_iter_F = 0
best_loss_iter_G = 0
best_lossF = 1000000.0
best_lossD = 1000000.0
best_lossG = 1000000.0
accumulated_time = 0
lossF = Variable(torch.Tensor([100.0]))
lossG_adv = Variable(torch.Tensor([100.0]))
lossG_smooth = Variable(torch.Tensor([100.0]))
lossG = Variable(torch.Tensor([100.0]))
netG.train()
netD.train()
netF.train()
capture_time = time.time()
if not os.path.exists('./imgs_' + exp_alias):
os.mkdir('./imgs_' + exp_alias)
#TODO put family for losses
fake_img_pool = ImagePool(50)
for data in data_loader:
set_requires_grad(netD, True)
set_requires_grad(netF, True)
set_requires_grad(netG, True)
# print("ITERATION:", iteration)
val = 0.0
input_data, float_data, tgt_imgs = data
inputs = input_data['rgb'].cuda()
tgt_imgs = tgt_imgs.cuda()
inputs = inputs.squeeze(1)
inputs = inputs - val #subtracted by 0.5
tgt_imgs = tgt_imgs - val #subtracted by 0.5
#TODO: make sure the F network does not get optimized by G optim
controls = float_data[:, dataset.controls_position(), :]
src_embed_inputs, src_branches = netF(
inputs,
dataset.extract_inputs(float_data).cuda())
tgt_embed_inputs = netF(tgt_imgs, None)
src_fake_inputs = netG(src_embed_inputs.detach())
tgt_fake_inputs = netG(tgt_embed_inputs.detach())
if iteration % 500 == 0:
imgs_to_save = torch.cat(
(inputs_in[:2] + val, fake_inputs_in[:2] + val), 0).cpu().data
vutils.save_image(imgs_to_save,
'./imgs_' + exp_alias + '/' + str(iteration) +
'_real_and_fake.png',
normalize=True)
coil_logger.add_image("Images", imgs_to_save, iteration)
##--------------------Discriminator part!!!!!!!!!!-------------------##
set_requires_grad(netD, True)
set_requires_grad(netF, False)
set_requires_grad(netG, False)
optimD.zero_grad()
##fake
# fake_inputs_forD = fake_img_pool.query(fake_inputs)
outputsD_src_fake_forD = netD(src_fake_inputs.detach())
labsize = outputsD_src_fake_forD.size()
if g_conf.LOSS_FUNCTION == 'NORMAL':
labsize = labsize[0]
print("Discriminator label size", labsize)
if g_conf.LABSMOOTH:
label_real_noise = torch.rand(
labsize.size()) * 0.1 #Label smoothing
label_fake_noise = torch.rand(labsize.size()) * 0.1
labels_src_fake = torch.zeros(labsize).type(
torch.LongTensor) + 1 #Fake labels
labels_src_fake = Variable(labels_src_fake).cuda()
##source real
outputsD_src_real_forD = netD(inputs) # Pass real domain image here
labels_src_real = torch.zeros(labsize).type(
torch.LongTensor) + 2 #Real labels
labels_src_real = Variable(labels_src_real).cuda()
##target fake
outputsD_tgt_fake_forD = netD(tgt_fake_inputs.detach())
labels_tgt_fake = torch.zeros(labsize).type(torch.LongTensor) + 3
labels_tgt_fake = Variable(labels_tgt_fake).cuda()
##target real
outputsD_tgt_real_forD = netD(tgt_imgs) # Pass real domain image here
labels_tgt_real = torch.zeros(labsize).type(
torch.LongTensor) + 4 #Real labels
labels_tgt_real = Variable(labels_tgt_real).cuda()
#discriminator losses
lossD_src_fake = torch.mean(outputsD_src_fake_forD)
lossD_src_real = -1.0 * torch.mean(outputsD_src_real_forD)
lossD_tgt_fake = torch.mean(outputsD_tgt_fake_forD)
lossD_tgt_real = -1.0 * torch.mean(outputsD_tgt_real_forD)
gp_src = calc_gradient_penalty(netD, inputs, src_fa)
gp_tgt = calc_gradient_penalty
gp_src_tgt = calc_gradient_penalty
gp_tgt_src = calc_gradient_penalty
### Gradient Penalty ###
gradient_penalty = calc_gradient_penalty(netD, inputs, fake_inputs)
lossD = (lossD_src_real + lossD_src_fake + lossD_tgt_real +
lossD_tgt_fake) * 0.25
# alpha = torch.rand((g_conf.BATCH_SIZE, 1, 1, 1))
# alpha = alpha.cuda()
#
# x_hat = alpha * inputs.data + (1 - alpha) * fake_inputs.data
# x_hat.requires_grad = True
#
# pred_hat = netD(x_hat)
# gradients = grad(outputs=pred_hat, inputs=x_hat, grad_outputs=torch.ones(pred_hat.size()).cuda(),
# create_graph=True, retain_graph=True, only_inputs=True)[0]
#
# gradient_penalty = 10 * ((gradients.view(gradients.size()[0], -1).norm(2, 1) - 1) ** 2).mean()
#Discriminator updates
lossD = torch.mean(
outputsD_fake_forD -
outputsD_real) + gradient_penalty #(lossD_real + lossD_fake) * 0.5
# lossD /= len(inputs)
print("Loss d", lossD)
lossD.backward(retain_graph=True)
optimD.step()
# if g_conf.TRAIN_TYPE == 'WGAN':
# for p in netD.parameters():
# p.data.clamp_(-clamp_value, clamp_value)
coil_logger.add_scalar('Total LossD', lossD.data, iteration)
coil_logger.add_scalar('Real LossD', lossD_real.data / len(inputs),
iteration)
coil_logger.add_scalar('Fake LossD', lossD_fake.data / len(inputs),
iteration)
##--------------------Generator part!!!!!!!!!!-----------------------##
set_requires_grad(netD, False)
set_requires_grad(netF, False)
set_requires_grad(netG, True)
if ((iteration + 1) % n_critic) == 0:
optimG.zero_grad()
outputsD_fake_forG = netD(fake_inputs)
#Generator updates
lossG_adv = -1.0 * torch.mean(
outputsD_fake_forG) #Loss(outputsD_fake_forG, labels_real)
lossG_smooth = L1_loss(fake_inputs, inputs)
lossG = (lossG_adv + l1weight * lossG_smooth) / (1.0 + l1weight)
# lossG /= len(inputs)
print(lossG)
lossG.backward(retain_graph=True)
optimG.step()
#####Task network updates##########################
set_requires_grad(netD, False)
set_requires_grad(netF, True)
set_requires_grad(netG, False)
optimF.zero_grad()
lossF = Variable(torch.Tensor())
lossF = Task_Loss.MSELoss(
branches,
dataset.extract_targets(float_data).cuda(), controls.cuda(),
dataset.extract_inputs(float_data).cuda())
coil_logger.add_scalar('Task Loss', lossF.data, iteration)
lossF.backward()
optimF.step()
coil_logger.add_scalar('Total LossG', lossG.data, iteration)
coil_logger.add_scalar('Adv LossG', lossG_adv.data / len(inputs),
iteration)
coil_logger.add_scalar('Smooth LossG', lossG_smooth.data / len(inputs),
iteration)
#optimization for one iter done!
position = random.randint(0, len(float_data) - 1)
if lossD.data < best_lossD:
best_lossD = lossD.data.tolist()
# print (lossG.item(), best_lossG)
if lossG.item() < best_lossG:
best_lossG = lossG.item()
best_loss_iter_G = iteration
if lossF.item() < best_lossF:
best_lossF = lossF.item()
best_loss_iter_F = iteration
accumulated_time += time.time() - capture_time
capture_time = time.time()
print("LossD", lossD.data.tolist(), "LossG", lossG.data.tolist(),
"BestLossD", best_lossD, "BestLossG", best_lossG, "LossF", lossF,
"BestLossF", best_lossF, "Iteration", iteration,
"Best Loss Iteration G", best_loss_iter_G,
"Best Loss Iteration F", best_loss_iter_F)
coil_logger.add_message(
'Iterating', {
'Iteration':
iteration,
'LossD':
lossD.data.tolist(),
'LossG':
lossG.data.tolist(),
'Images/s': (iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLossD':
best_lossD,
'BestLossG':
best_lossG,
'BestLossIterationG':
best_loss_iter_G,
'BestLossF':
best_lossF,
'BestLossIterationF':
best_loss_iter_F,
'GroundTruth':
dataset.extract_targets(float_data)[position].data.tolist(),
'Inputs':
dataset.extract_inputs(float_data)[position].data.tolist()
}, iteration)
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'stateF_dict': netF.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'total_time': accumulated_time,
'best_loss_iter_G': best_loss_iter_G,
'best_loss_iter_F': best_loss_iter_F
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'checkpoints',
str(iteration) + '.pth'))
if iteration == best_loss_iter_G and iteration > 10000:
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'stateF_dict': netF.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'total_time': accumulated_time,
'best_loss_iter_G': best_loss_iter_G
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'best_modelG' + '.pth'))
if iteration == best_loss_iter_F and iteration > 10000:
state = {
'iteration': iteration,
'stateD_dict': netD.state_dict(),
'stateG_dict': netG.state_dict(),
'stateF_dict': netF.state_dict(),
'best_lossD': best_lossD,
'best_lossG': best_lossG,
'best_lossF': best_lossF,
'total_time': accumulated_time,
'best_loss_iter_F': best_loss_iter_F
}
torch.save(
state,
os.path.join('/datatmp/Experiments/rohitgan/_logs', exp_batch,
exp_alias, 'best_modelF' + '.pth'))
iteration += 1
def execute(gpu, exp_batch, exp_alias, suppress_output=True):
# We set the visible cuda devices
# TODO: probable race condition, the train has to be started before.
try:
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'))
set_type_of_process('train')
coil_logger.add_message('Loading', {'GPU': gpu})
if not os.path.exists('_output_logs'):
os.mkdir('_output_logs')
# Put the output to a separate file
if suppress_output:
sys.stdout = open(os.path.join(
'_output_logs',
g_conf.PROCESS_NAME + '_' + str(os.getpid()) + ".out"),
"a",
buffering=1)
checkpoint_file = get_latest_saved_checkpoint()
if checkpoint_file is not None:
checkpoint = torch.load(
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(get_latest_saved_checkpoint())))
iteration = checkpoint['iteration']
best_loss = checkpoint['best_loss']
best_loss_iter = checkpoint['best_loss_iter']
else:
iteration = 0
best_loss = 10000.0
best_loss_iter = 0
# TODO: The checkpoint will continue, so it should erase everything up to the iteration on tensorboard
# Define the dataset. This structure is has the __get_item__ redefined in a way
# that you can access the HD_FILES positions from the root directory as a in a vector.
full_dataset = os.path.join(os.environ["COIL_DATASET_PATH"],
g_conf.TRAIN_DATASET_NAME)
# augmenter_cpu = iag.AugmenterCPU(g_conf.AUGMENTATION_SUITE_CPU)
# By instanciating the augmenter we get a callable that augment images and transform them
# into tensors.
augmenter = Augmenter(g_conf.AUGMENTATION)
dataset = CoILDataset(full_dataset, transform=augmenter)
data_loader = select_balancing_strategy(dataset, iteration)
model = CoILModel(g_conf.MODEL_TYPE, g_conf.MODEL_CONFIGURATION)
model.cuda()
if checkpoint_file is not None:
model.load_state_dict(checkpoint['state_dict'])
print(model)
criterion = Loss(g_conf.LOSS_FUNCTION)
optimizer = optim.Adam(model.parameters(), lr=g_conf.LEARNING_RATE)
print(dataset.meta_data)
print(model)
if checkpoint_file is not None:
accumulated_time = checkpoint['total_time']
else:
accumulated_time = 0 # We accumulate iteration time and keep the average speed
#TODO: test experiment continuation. Is the data sampler going to continue were it started.. ?
capture_time = time.time()
for data in data_loader:
input_data, float_data = data
# get the control commands from float_data, size = [120,1]
controls = float_data[:, dataset.controls_position(), :]
# The output(branches) is a list of 5 branches results, each branch is with size [120,3]
model.zero_grad()
branches = model(torch.squeeze(input_data['rgb'].cuda()),
dataset.extract_inputs(float_data).cuda())
loss = criterion(branches,
dataset.extract_targets(float_data).cuda(),
controls.cuda(),
dataset.extract_inputs(float_data).cuda(),
branch_weights=g_conf.BRANCH_LOSS_WEIGHT,
variable_weights=g_conf.VARIABLE_WEIGHT)
# TODO: All these logging things could go out to clean up the main
if loss.data < best_loss:
best_loss = loss.data.tolist()
best_loss_iter = iteration
# Log a random position
position = random.randint(0, len(float_data) - 1)
output = model.extract_branch(torch.stack(branches[0:4]), controls)
error = torch.abs(output -
dataset.extract_targets(float_data).cuda())
# TODO: For now we are computing the error for just the correct branch, it could be multi- branch,
coil_logger.add_scalar('Loss', loss.data, iteration)
coil_logger.add_image('Image', torch.squeeze(input_data['rgb']),
iteration)
loss.backward()
optimizer.step()
accumulated_time += time.time() - capture_time
capture_time = time.time()
# TODO: Get only the float_data that are actually generating output
# TODO: itearation is repeating , and that is dumb
coil_logger.add_message(
'Iterating', {
'Iteration':
iteration,
'Loss':
loss.data.tolist(),
'Images/s':
(iteration * g_conf.BATCH_SIZE) / accumulated_time,
'BestLoss':
best_loss,
'BestLossIteration':
best_loss_iter,
'Output':
output[position].data.tolist(),
'GroundTruth':
dataset.extract_targets(
float_data)[position].data.tolist(),
'Error':
error[position].data.tolist(),
'Inputs':
dataset.extract_inputs(float_data)[position].data.tolist()
}, iteration)
# TODO: For now we are computing the error for just the correct branch, it could be multi-branch,
# TODO: save also the optimizer state dictionary
if is_ready_to_save(iteration):
state = {
'iteration': iteration,
'state_dict': model.state_dict(),
'best_loss': best_loss,
'total_time': accumulated_time,
'best_loss_iter': best_loss_iter
}
# TODO : maybe already summarize the best model ???
torch.save(
state,
os.path.join('_logs', exp_batch, exp_alias, 'checkpoints',
str(iteration) + '.pth'))
iteration += 1
print(iteration)
if iteration % 1000 == 0:
adjust_learning_rate(optimizer, iteration)
del data
coil_logger.add_message('Finished', {})
except KeyboardInterrupt:
coil_logger.add_message('Error', {'Message': 'Killed By User'})
except:
traceback.print_exc()
coil_logger.add_message('Error', {'Message': 'Something Happened'})
