def experiment(logdir, device) -> None:
"""Experiment function
Args:
logdir (Path): directory where should be placed logs
device (str): device name to use
"""
tb_dir = logdir / "tensorboard"
main_metric = "score"
minimize_metric = True
seed_all()
history_n_frames = cfg["model_params"]["history_num_frames"]
future_n_frames = cfg["model_params"]["future_num_frames"]
n_trajectories = 3
model = ModelWithConfidence(
backbone=resnet18(
pretrained=True,
in_channels=3 + 2 * (history_n_frames + 1),
num_classes=2 * future_n_frames * n_trajectories + n_trajectories,
),
future_num_frames=future_n_frames,
num_trajectories=n_trajectories,
)
# model = nn.DataParallel(model)
model = model.to(device)
optimizer = optim.AdamP(model.parameters(),
lr=0.001,
betas=(0.9, 0.999),
weight_decay=1e-2)
load_checkpoint("./logs/checkpoint_17/train_25868.pth", model, optimizer)
criterion = neg_multi_log_likelihood_batch
scheduler = optim.lr_scheduler.CosineAnnealingLR(optimizer, T_max=100)
with TensorboardLogger(tb_dir) as tb:
stage = "stage_0"
n_epochs = 1
print(f"Stage - {stage}")
checkpointer = CheckpointManager(
logdir=logdir / stage,
metric=main_metric,
metric_minimization=minimize_metric,
save_n_best=5,
)
train_loader, (valid_loader,
valid_gt_path) = get_loaders(train_batch_size=32,
valid_batch_size=32)
valid_func = partial(
valid_fn,
loader=valid_loader,
ground_truth_file=valid_gt_path,
logdir=logdir,
verbose=True,
)
for epoch in range(1, n_epochs + 1):
epoch_start_time = time.strftime("%Y-%m-%d %H:%M:%S",
time.localtime())
print(f"[{epoch_start_time}]\n[Epoch {epoch}/{n_epochs}]")
try:
train_metrics = train_fn(
model,
train_loader,
device,
criterion,
optimizer,
tensorboard_logger=tb,
logdir=logdir / f"epoch_{epoch}",
validation_fn=valid_func,
)
log_metrics(stage, train_metrics, tb, "train", epoch)
except BaseException:
train_metrics = {"message": "An exception occured!"}
# valid_metrics = train_metrics
valid_metrics = valid_fn(model, valid_loader, device,
valid_gt_path, logdir)
log_metrics(stage, valid_metrics, tb, "valid", epoch)
checkpointer.process(
metric_value=valid_metrics[main_metric],
epoch=epoch,
checkpoint=make_checkpoint(
stage,
epoch,
model,
optimizer,
scheduler,
metrics={
"train": train_metrics,
"valid": valid_metrics
},
),
)
def experiment(logdir, device) -> None:
"""Experiment function
Args:
logdir (Path): directory where should be placed logs
device (str): device name to use
"""
tb_dir = logdir / "tensorboard"
main_metric = "loss"
minimize_metric = True
seed_all()
history_n_frames = cfg["model_params"]["history_num_frames"]
future_n_frames = cfg["model_params"]["future_num_frames"]
n_trajectories = 3
model = ModelWithConfidence(
backbone=resnet18(
pretrained=True,
in_channels=3 + 2 * (history_n_frames + 1),
num_classes=2 * future_n_frames * n_trajectories + n_trajectories,
),
future_num_frames=future_n_frames,
num_trajectories=n_trajectories,
)
# model = nn.DataParallel(model)
model = model.to(device)
optimizer = optim.Adam(model.parameters(), lr=1e-3)
criterion = neg_multi_log_likelihood_batch
scheduler = optim.lr_scheduler.CosineAnnealingLR(optimizer, T_max=100)
with TensorboardLogger(tb_dir) as tb:
stage = "stage_0"
n_epochs = 1
print(f"Stage - {stage}")
checkpointer = CheckpointManager(
logdir=logdir / stage,
metric=main_metric,
metric_minimization=minimize_metric,
save_n_best=5,
)
train_loader, valid_loader = get_loaders(train_batch_size=32,
valid_batch_size=32)
for epoch in range(1, n_epochs + 1):
epoch_start_time = time.strftime("%Y-%m-%d %H:%M:%S",
time.localtime())
print(f"[{epoch_start_time}]\n[Epoch {epoch}/{n_epochs}]")
train_metrics = train_fn(model, train_loader, device, criterion,
optimizer)
log_metrics(stage, train_metrics, tb, "train", epoch)
valid_metrics = valid_fn(model, valid_loader, device, criterion)
log_metrics(stage, valid_metrics, tb, "valid", epoch)
checkpointer.process(
metric_value=valid_metrics[main_metric],
epoch=epoch,
checkpoint=make_checkpoint(
stage,
epoch,
model,
optimizer,
scheduler,
metrics={
"train": train_metrics,
"valid": valid_metrics
},
),
)
scheduler.step()
"filter_agents_threshold": 0.5,
},
"train_data_loader": {
"key": "scenes/train.zarr",
"batch_size": 32,
"shuffle": True,
"num_workers": 4,
},
}
future_n_frames = cfg["model_params"]["future_num_frames"]
n_trajectories = 3
model = ModelWithConfidence(
backbone=resnet18(
pretrained=True,
in_channels=6,
num_classes=2 * future_n_frames * n_trajectories + n_trajectories,
),
future_num_frames=future_n_frames,
num_trajectories=n_trajectories,
)
load_checkpoint(checkpoint_path, model)
model = model.eval()
device = torch.device("cuda:0")
model = model.to(device)
valid_mask = np.load(
f"{DATA_DIR}/scenes/validate_chopped_100/mask.npz")["arr_0"]
