def get_logs_path(path):
"""
Log dir specification, see: get_logs_path,
https://tensorport.com/documentation/api/#get_logs_path
:param str path: the path for the logs dir
:return str: the real path for the logs
"""
if path.startswith('gs://'):
return path
return tensorport.get_logs_path(path)
# Training related flags
flags.DEFINE_string(
"data_dir",
get_data_path(
dataset_name="malo/mnist", #all mounted repo
local_root=ROOT_PATH_TO_LOCAL_DATA,
local_repo="mnist",
path=''),
"Path to store logs and checkpoints. It is recommended"
"to use get_logs_path() to define your logs directory."
"so that you can switch from local to tensorport without"
"changing your code."
"If you set your logs directory manually make sure"
"to use /logs/ when running on TensorPort cloud.")
flags.DEFINE_string(
"log_dir", get_logs_path(root=PATH_TO_LOCAL_LOGS),
"Path to dataset. It is recommended to use get_data_path()"
"to define your data directory.so that you can switch "
"from local to tensorport without changing your code."
"If you set the data directory manually makue sure to use"
"/data/ as root path when running on TensorPort cloud.")
flags.DEFINE_integer("hidden1", 128,
"Number of units in the 1st hidden layer of the NN")
flags.DEFINE_integer("hidden2", 128,
"Number of units in the 2nd hidden layer of the NN")
flags.DEFINE_integer("batch_size", 100, "Training batch size")
flags.DEFINE_float("learning_rate", 0.01, "Learning rate")
FLAGS = flags.FLAGS
def main():
""" Main wrapper"""
# tport snippet 1 - get environment variables
try:
job_name = os.environ['JOB_NAME']
task_index = os.environ['TASK_INDEX']
ps_hosts = os.environ['PS_HOSTS']
worker_hosts = os.environ['WORKER_HOSTS']
except:
job_name = None
task_index = 0
ps_hosts = None
worker_hosts = None
#Path to your data locally. This will enable to run the model both locally and on
# tensorport without changes
PATH_TO_LOCAL_LOGS = os.path.expanduser('~/Documents/tensorport-self-driving-demo/logs/')
ROOT_PATH_TO_LOCAL_DATA = os.path.expanduser('~/Documents/comma/')
#end of tport snippet 1
#Flags
flags = tf.app.flags
FLAGS = flags.FLAGS
# tport snippet 2: flags.
#Define the path from the root data directory to your data.
#We use glob to match any .h5 datasets in Documents/comma locally, or in data/ on tensorport
flags.DEFINE_string(
"train_data_dir",
get_data_path(
dataset_name = "tensorport/*", #all mounted repo
local_root = ROOT_PATH_TO_LOCAL_DATA,
local_repo = "comma-final", #all repos (we use glob downstream, see read_data.py)
path = 'camera/training/*.h5'#all .h5 files
),
"""Path to training dataset. It is recommended to use get_data_path()
to define your data directory. If you set your dataset directory manually make sure to use /data/
as root path when running on TensorPort cloud.
On tensrport, the data will be mounted in /data/user/tport_dataset_name,
so you can acces `path` with /data/user/tport_dataset_name/path
"""
)
flags.DEFINE_string("logs_dir",
get_logs_path(root=PATH_TO_LOCAL_LOGS),
"Path to store logs and checkpoints. It is recommended"
"to use get_logs_path() to define your logs directory."
"If you set your logs directory manually make sure"
"to use /logs/ when running on TensorPort cloud.")
# Define worker specific environment variables. Handled automatically.
flags.DEFINE_string("job_name", job_name,
"job name: worker or ps")
flags.DEFINE_integer("task_index", task_index,
"Worker task index, should be >= 0. task_index=0 is "
"the chief worker task the performs the variable "
"initialization")
flags.DEFINE_string("ps_hosts", ps_hosts,
"Comma-separated list of hostname:port pairs")
flags.DEFINE_string("worker_hosts", worker_hosts,
"Comma-separated list of hostname:port pairs")
# end of tport snippet 2
# Training flags - feel free to play with that!
flags.DEFINE_integer("batch",256,"Batch size")
flags.DEFINE_integer("time",1,"Number of frames per sample")
flags.DEFINE_integer("steps_per_epoch",10000,"Number of training steps per epoch")
flags.DEFINE_integer("nb_epochs",200,"Number of epochs")
# Model flags - feel free to play with that!
flags.DEFINE_float("dropout_rate1",.2,"Dropout rate on first dropout layer")
flags.DEFINE_float("dropout_rate2",.5,"Dropout rate on second dropout layer")
flags.DEFINE_float("starter_lr",1e-6,"Starter learning rate. Exponential decay is applied")
flags.DEFINE_integer("fc_dim",512,"Size of the dense layer")
flags.DEFINE_boolean("nogood",False,"Ignore `goods` filters.")
# tport snippet 3: configure distributed environment
def device_and_target():
# If FLAGS.job_name is not set, we're running single-machine TensorFlow.
# Don't set a device.
if FLAGS.job_name is None:
print("Running single-machine training")
return (None, "")
# Otherwise we're running distributed TensorFlow.
print("Running distributed training")
if FLAGS.task_index is None or FLAGS.task_index == "":
raise ValueError("Must specify an explicit `task_index`")
if FLAGS.ps_hosts is None or FLAGS.ps_hosts == "":
raise ValueError("Must specify an explicit `ps_hosts`")
if FLAGS.worker_hosts is None or FLAGS.worker_hosts == "":
raise ValueError("Must specify an explicit `worker_hosts`")
cluster_spec = tf.train.ClusterSpec({
"ps": FLAGS.ps_hosts.split(","),
"worker": FLAGS.worker_hosts.split(","),
})
server = tf.train.Server(
cluster_spec, job_name=FLAGS.job_name, task_index=FLAGS.task_index)
if FLAGS.job_name == "ps":
server.join()
worker_device = "/job:worker/task:{}".format(FLAGS.task_index)
# The device setter will automatically place Variables ops on separate
# parameter servers (ps). The non-Variable ops will be placed on the workers.
return (
tf.train.replica_device_setter(
worker_device=worker_device,
cluster=cluster_spec),
server.target,
)
device, target = device_and_target()
# end of tport snippet 3
print(FLAGS.logs_dir)
print(FLAGS.train_data_dir)
if FLAGS.logs_dir is None or FLAGS.logs_dir == "":
raise ValueError("Must specify an explicit `logs_dir`")
if FLAGS.train_data_dir is None or FLAGS.train_data_dir == "":
raise ValueError("Must specify an explicit `train_data_dir`")
# if FLAGS.val_data_dir is None or FLAGS.val_data_dir == "":
# raise ValueError("Must specify an explicit `val_data_dir`")
TIME_LEN = 1 #1 video frame. Other not supported.
# Define graph
with tf.device(device):
X = tf.placeholder(tf.float32, [FLAGS.batch, 3, 160, 320], name="X")
Y = tf.placeholder(tf.float32,[FLAGS.batch,1], name="Y") # angle only
S = tf.placeholder(tf.float32,[FLAGS.batch,1], name="S") #speed
predictions = get_model(X,FLAGS)
steering_summary = tf.summary.image("green-is-predicted",render_steering_tf(X,Y,S,predictions)) # Adding numpy operation to graph. Adding image to summary
loss = get_loss(predictions,Y)
training_summary = tf.summary.scalar('Training_Loss', loss)#add to tboard
#Batch generators
gen_train = gen(FLAGS.train_data_dir, time_len=FLAGS.time, batch_size=FLAGS.batch, ignore_goods=FLAGS.nogood)
global_step = tf.contrib.framework.get_or_create_global_step()
learning_rate = tf.train.exponential_decay(FLAGS.starter_lr, global_step,1000, 0.96, staircase=True)
train_step = (
tf.train.AdamOptimizer(learning_rate)
.minimize(loss, global_step=global_step)
)
def run_train_epoch(target,gen_train,FLAGS,epoch_index):
"""Restores the last checkpoint and runs a training epoch
Inputs:
- target: device setter for distributed work
- FLAGS:
- requires FLAGS.logs_dir from which the model will be restored.
Note that whatever most recent checkpoint from that directory will be used.
- requires FLAGS.steps_per_epoch
- gen_train: training data generator
- epoch_index: index of current epoch
"""
hooks=[tf.train.StopAtStepHook(last_step=FLAGS.steps_per_epoch*epoch_index)] # Increment number of required training steps
i = 1
with tf.train.MonitoredTrainingSession(master=target,
is_chief=(FLAGS.task_index == 0),
checkpoint_dir=FLAGS.logs_dir,
hooks = hooks) as sess:
while not sess.should_stop():
batch_train = gen_train.next()
feed_dict = {X: batch_train[0],
Y: batch_train[1],
S: batch_train[2]
}
variables = [loss, learning_rate, train_step]
current_loss, lr, _ = sess.run(variables, feed_dict)
print("Iteration %s - Batch loss: %s" % ((epoch_index)*FLAGS.steps_per_epoch + i,current_loss))
i+=1
for e in range(FLAGS.nb_epochs):
run_train_epoch(target, gen_train, FLAGS, e)
