def simple_operations(using_gpu):
"""
Returns a vector of callable classes. YOu can after instance an augmenter class with
this vector as a parameter, and you will have a callable augmenter !
Returns
A vector of callable augmeters
"""
if using_gpu:
import imgauggpu as iag
else:
import imgaug.augmenters as iag
st = lambda aug: iag.Sometimes(aug, 0.4)
oc = lambda aug: iag.Sometimes(aug, 0.3)
rl = lambda aug: iag.Sometimes(aug, 0.09)
return [
rl(iag.ContrastNormalization((0.5, 1.5), per_channel=0.5)),
rl(iag.GaussianBlur((0, 1.5))),
rl(iag.Grayscale((0.0, 1))),
oc(iag.Add((-20, 20))),
oc(iag.Multiply((0.10, 1.5), per_channel=0.2)), # Arithmetic
oc(iag.Dropout((0, 0.1), per_channel=0.5)),
oc(
iag.CoarseDropout((0, 0.1),
size_percent=(0.08, 0.2),
per_channel=0.5,
size_px=(16, 16)))
] # Dropout
def simple_operations(using_gpu):
"""
Returns a vector of callable classes. YOu can after instance an augmenter class with
this vector as a parameter, and you will have a callable augmenter !
Returns
A vector of callable augmeters
"""
if using_gpu:
import imgauggpu as iag
else:
import imgaug.augmenters as iag
return [iag.Add((-5, 5)), iag.Multiply((0.9, 1.1)), # Arithmetic
iag.Dropout(0.2),# iag.CoarseDropout((0, 0.2), size_px=(16, 16))] # Dropout
iag.AdditiveGaussianNoise(0.10*255)] # Gaussian noise
def _process_sensors(self, sensors):
iteration = 0
for name, size in g_conf.SENSORS.items():
sensor = sensors[name].data[
g_conf.IMAGE_CUT[0]:g_conf.IMAGE_CUT[1], ...]
if sensors[name].type == 'SemanticSegmentation':
# TODO: the camera name has to be sincronized with what is in the experiment...
sensor = join_classes(sensor)
sensor = sensor[:, :, np.newaxis]
image_transform = transforms.Compose([
transforms.ToTensor(),
transforms.Resize((size[1], size[2]),
interpolation=Image.NEAREST),
iag.ToGPU(),
iag.Multiply((1 / (number_of_seg_classes - 1)))
])
else:
image_transform = transforms.Compose([
transforms.ToPILImage(),
transforms.Resize((size[1], size[2])),
transforms.ToTensor(),
transforms.Normalize((0, 0, 0), (255, 255, 255)),
iag.ToGPU()
])
sensor = np.swapaxes(sensor, 0, 1)
sensor = np.flip(sensor.transpose((2, 0, 1)), axis=0)
if iteration == 0:
image_input = image_transform(sensor)
else:
image_input = torch.cat((image_input, sensor), 0)
iteration += 1
image_input = image_input.unsqueeze(0)
return image_input
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
#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("GPU", gpu)
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_task = ganmodels_task._netD_task(loss=g_conf.LOSS_FUNCTION).cuda()
netD_img = ganmodels_task._netD_img(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_bin = ganmodels_task._netD_task().cuda()
netD_img = ganmodels_task._netD_img().cuda()
netG = ganmodels_task._netG().cuda()
netF = ganmodels_task._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_bin)
init_weights(netD_img)
# init_weights(netG)
print(netD_bin)
print(netF)
optimD_bin = torch.optim.Adam(netD_bin.parameters(),
lr=g_conf.LR_D,
betas=(0.5, 0.999))
optimD_img = torch.optim.Adam(netD_img.parameters(),
lr=g_conf.LR_D,
betas=(0.5, 0.999))
optimG = torch.optim.Adam(netG.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()
netD_img.train()
netG.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(netD_img, True)
set_requires_grad(netG, 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)
src_img_fake = netG(src_embed_inputs)
tgt_img_fake = netG(tgt_embed_inputs)
if iteration % 100 == 0:
imgs_to_save = torch.cat(
(inputs[:1] + val, src_img_fake[:1] + val, tgt_imgs[:1] + val,
tgt_img_fake[: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!!!!!!!!!!-------------------##
set_requires_grad(netD_bin, True)
set_requires_grad(netD_img, False)
set_requires_grad(netG, False)
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)
#### Discriminator img update ####
set_requires_grad(netD_bin, False)
set_requires_grad(netD_img, True)
set_requires_grad(netG, False)
set_requires_grad(netF, False)
optimD_img.zero_grad()
outputsD_fake_src_img = netD_img(src_img_fake.detach())
outputsD_fake_tgt_img = netD_img(tgt_img_fake.detach())
outputsD_real_src_img = netD_img(inputs)
outputsD_real_tgt_img = netD_img(tgt_imgs)
gradient_penalty_src = calc_gradient_penalty(netD_img, inputs,
src_img_fake)
lossD_img_src = torch.mean(
outputsD_fake_src_img -
outputsD_real_src_img) + gradient_penalty_src
gradient_penalty_tgt = calc_gradient_penalty(netD_img, tgt_imgs,
tgt_img_fake)
lossD_img_tgt = torch.mean(
outputsD_fake_tgt_img -
outputsD_real_tgt_img) + gradient_penalty_tgt
lossD_img = (lossD_img_src + lossD_img_tgt) * 0.5
lossD_img.backward(retain_graph=True)
optimD_img.step()
coil_logger.add_scalar('Total LossD img', lossD_img.data, iteration)
if ((iteration + 1) % n_critic) == 0:
#####Generator updates#######
set_requires_grad(netD_bin, False)
set_requires_grad(netD_img, False)
set_requires_grad(netG, True)
set_requires_grad(netF, False)
outputsD_fake_src_img = netD_img(src_img_fake)
outputsD_real_tgt_img = netD_img(tgt_imgs)
outputsD_fake_tgt_img = netD_img(tgt_img_fake)
lossG_src_smooth = L1_loss(src_img_fake, inputs)
lossG_tgt_smooth = L1_loss(tgt_img_fake, tgt_imgs)
lossG_smooth = (lossG_src_smooth + lossG_tgt_smooth) * 0.5
lossG_adv = 0.5 * (-1.0 * outputsD_fake_src_img.mean() -
1.0 * outputsD_fake_tgt_img.mean())
lossG = (lossG_smooth + 0.0 * lossG_adv)
lossG.backward(retain_graph=True)
optimG.step()
coil_logger.add_scalar('Total LossG', lossG.data, iteration)
#####Task network updates##########################
set_requires_grad(netD_bin, False)
set_requires_grad(netD_img, False)
set_requires_grad(netG, 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)
src_img_fake = netG(src_embed_inputs)
tgt_img_fake = netG(tgt_embed_inputs)
outputsD_fake_src_img = netD_img(src_img_fake)
outputsD_real_tgt_img = netD_img(tgt_imgs)
lossF_task = Task_Loss.MSELoss(
src_branches,
dataset.extract_targets(float_data).cuda(), controls.cuda(),
dataset.extract_inputs(float_data).cuda())
lossF_adv_bin = netD_bin(src_embed_inputs).mean() - netD_bin(
tgt_embed_inputs).mean()
lossF_adv_img = outputsD_fake_src_img.mean(
) - outputsD_real_tgt_img.mean()
lossF_adv = 0.5 * (lossF_adv_bin + 0.1 * lossF_adv_img)
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.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)
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
if __name__ == '__main__':
#Load an image
rat_image = Image.open('quokka.jpg')
# ADDING operations
add_cpu = iag.AugmenterCPU([ia.augmenters.Add((-20, 20))])
add_gpu = iag.Augmenter([iag.Add((-20, 20))])
plot_images(rat_image, add_cpu, add_gpu)
# MULTIPLYING operation.
# Plot comparisons
# Show a cool example the sometimes usage.
sometimes_multiply = iag.Augmenter(iag.Sometimes(iag.Multiply(2.0)))
#for i in 10_rats:
# sometimes_multiply(rat_image)
# plot_the_rat images
print (" >>>>>>> RUN THE SPEED TEST TO CHECK THE ADVANTAGES <<<<<<<<<<")
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,
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_dl = real_dataloader.RealDataset(real_dataset, g_conf.BATCH_SIZE)
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)
input_data, float_data = data
tgt_imgs = real_dl.get_imgs()
if g_conf.IF_AUG:
inputs = augmenter(0, input_data['rgb'])
else:
inputs = input_data['rgb'].cuda()
tgt_imgs = tgt_imgs.cuda()
inputs = inputs.squeeze(1)
inputs = inputs
tgt_imgs = tgt_imgs
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
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], src_fake_inputs[:1],
tgt_imgs[:1], tgt_fake_inputs[:1]),
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/Datasets/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/Datasets/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)
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
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(list(netF.parameters()) +
list(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 = data
inputs = augmenter(0, input_data['rgb'])
inputs_in = inputs
#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)
fake_inputs_in = fake_inputs
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_fake_forD = netD(fake_inputs)
labsize = outputsD_fake_forD.size()
labels_fake = torch.zeros(labsize) #Fake labels
label_fake_noise = torch.rand(
labels_fake.size()) * 0.1 #Label smoothing
if g_conf.LABSMOOTH == 1:
labels_fake = labels_fake + label_fake_noise
labels_fake = Variable(labels_fake).cuda()
lossD_fake = torch.mean(
outputsD_fake_forD) #Loss(outputsD_fake_forD, labels_fake)
##real
outputsD_real = netD(inputs_in)
labsize = outputsD_real.size()
labels_real = torch.ones(labsize) #Real labels
label_real_noise = torch.rand(
labels_real.size()) * 0.1 #Label smoothing
if g_conf.LABSMOOTH == 1:
labels_real = labels_real - label_real_noise
labels_real = Variable(labels_real).cuda()
lossD_real = -1.0 * torch.mean(
outputsD_real) #Loss(outputsD_real, labels_real)
### Gradient Penalty ###
gradient_penalty = calc_gradient_penalty(netD, inputs, fake_inputs)
# 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, iteration)
coil_logger.add_scalar('Fake LossD', lossD_fake.data, iteration)
##--------------------Generator part!!!!!!!!!!-----------------------##
set_requires_grad(netD, False)
set_requires_grad(netF, True)
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, 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()
# 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):
# 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'})
