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