def main():
args = flag_parser.parse_arguments()
create_shared_model = model_class(args.model)
init_agent = agent_class(args.agent_type)
args.episode_type = "TestValEpisode"
args.test_or_val = "test"
# Get all valid saved_models for the given title and sort by train_ep.
checkpoints = [(f, f.split("_")) for f in os.listdir(args.save_model_dir)]
checkpoints = [
(f, int(s[-3])) for (f, s) in checkpoints
if len(s) >= 4 and f.startswith(args.title) and f.endswith('dat')
]
checkpoints.sort(key=lambda x: x[1])
best_model_on_val = None
best_performance_on_val = 0.0
for (f, train_ep) in tqdm(checkpoints, desc="Checkpoints."):
model = os.path.join(args.save_model_dir, f)
args.load_model = model
# run eval on model
args.test_or_val = "test"
main_eval(args, create_shared_model, init_agent)
# check if best on val.
with open(args.results_json, "r") as f:
results = json.load(f)
if results["success"] > best_performance_on_val:
best_model_on_val = model
best_performance_on_val = results["success"]
args.test_or_val = "test"
args.load_model = best_model_on_val
main_eval(args, create_shared_model, init_agent)
with open(args.results_json, "r") as f:
results = json.load(f)
print(
tabulate(
[
["SPL >= 1:", results["GreaterThan/1/spl"]],
["Success >= 1:", results["GreaterThan/1/success"]],
["SPL >= 5:", results["GreaterThan/5/spl"]],
["Success >= 5:", results["GreaterThan/5/success"]],
],
headers=["Metric", "Result"],
tablefmt="orgtbl",
))
print("Best model:", args.load_model)
def main():
print('Starting.')
args = flag_parser.parse_arguments()
# Seed sources of randomness.
random.seed(args.seed)
scene = 'FloorPlan{}_physics'.format(args.scenes)
gpu_id = 0
# Start a new episode.
total_reward = 0
ep = episode.Episode(args, gpu_id, 0)
ep.new_episode(args, scene)
total_reward = 0
while True:
print("Reward so far: %s" % (total_reward))
for i, action in enumerate(ep.actions_list):
print("%s: %s" % (i, action["action"]))
print("Choice?")
choice = misc_util.getch()
print()
try:
selection = int(choice)
if selection < len(ep.actions_list):
reward, terminal, success = ep.step(selection)
total_reward += reward
if terminal:
if ep.success:
print("Episode was successful!")
else:
print("Episode failed.")
print("Final reward: ", total_reward)
break
if not success:
print("Action failed!")
print()
else:
raise ValueError("Invalid choice")
except ValueError as e:
print("Invalid action: %s" % (selection))
print("Replaying...")
ep.slow_replay()
print("Done.")
def main():
setproctitle.setproctitle("Train/Test Manager")
args = flag_parser.parse_arguments()
if args.model == "BaseModel" or args.model == "GCN":
args.learned_loss = False
args.num_steps = 50
target = nonadaptivea3c_val if args.eval else nonadaptivea3c_train
# else:
# args.learned_loss = True
# args.num_steps = 6
# target = savn_val if args.eval else savn_train
create_shared_model = model_class(args.model)
init_agent = agent_class(args.agent_type)
optimizer_type = optimizer_class(args.optimizer)
# print('shared model created')
if args.eval:
main_eval(args, create_shared_model, init_agent)
return
start_time = time.time()
local_start_time_str = time.strftime("%Y-%m-%d_%H:%M:%S",
time.localtime(start_time))
np.random.seed(args.seed)
torch.manual_seed(args.seed)
random.seed(args.seed)
# print('seeding done')
if args.log_dir is not None:
tb_log_dir = args.log_dir + "/" + args.title + "-" + local_start_time_str
log_writer = SummaryWriter(log_dir=tb_log_dir)
else:
log_writer = SummaryWriter(comment=args.title)
if args.gpu_ids == -1:
args.gpu_ids = [-1]
else:
# print('something to do with cuda')
torch.cuda.manual_seed(args.seed)
mp.set_start_method("spawn")
shared_model = create_shared_model(args)
train_total_ep = 0
n_frames = 0
if shared_model is not None:
# print('shared model is being created')
shared_model.share_memory()
optimizer = optimizer_type(
filter(lambda p: p.requires_grad, shared_model.parameters()), args)
optimizer.share_memory()
print(shared_model)
# print('!!!!!!!!!!!!')
else:
assert (args.agent_type == "RandomNavigationAgent"
), "The model is None but agent is not random agent"
optimizer = None
processes = []
end_flag = mp.Value(ctypes.c_bool, False)
train_res_queue = mp.Queue()
for rank in range(0, args.workers):
print('Process {} being created'.format(rank))
p = mp.Process(
target=target,
args=(
rank,
args,
create_shared_model,
shared_model,
init_agent,
optimizer,
train_res_queue,
end_flag,
),
)
p.start()
processes.append(p)
time.sleep(0.1)
print("Train agents created.")
train_thin = args.train_thin
train_scalars = ScalarMeanTracker()
try:
while train_total_ep < args.max_ep:
print('total train ep: {} of {}'.format(train_total_ep,
args.max_ep))
print('Cuda available: {}'.format(torch.cuda.is_available()))
train_result = train_res_queue.get()
print('Got the train result from the queue')
train_scalars.add_scalars(train_result)
train_total_ep += 1
n_frames += train_result["ep_length"]
if (train_total_ep % train_thin) == 0:
log_writer.add_scalar("n_frames", n_frames, train_total_ep)
tracked_means = train_scalars.pop_and_reset()
for k in tracked_means:
log_writer.add_scalar(k + "/train", tracked_means[k],
train_total_ep)
if (train_total_ep % args.ep_save_freq) == 0:
print(n_frames)
if not os.path.exists(args.save_model_dir):
os.makedirs(args.save_model_dir)
state_to_save = shared_model.state_dict()
save_path = os.path.join(
args.save_model_dir,
"{0}_{1}_{2}_{3}.dat".format(args.title, n_frames,
train_total_ep,
local_start_time_str),
)
torch.save(state_to_save, save_path)
finally:
log_writer.close()
end_flag.value = True
for p in processes:
time.sleep(0.1)
p.join()
def main():
setproctitle.setproctitle("Train/Test Manager")
args = flag_parser.parse_arguments()
if args.model == "BaseModel" or args.model == "GCN_MLP" or args.model == "GCN" or args.model == "GCN_GRU":
args.learned_loss = False
args.num_steps = 50
target = nonadaptivea3c_val if args.eval else nonadaptivea3c_train
create_shared_model = model_class(args.model)
init_agent = agent_class(args.agent_type)
optimizer_type = optimizer_class(args.optimizer)
if args.eval:
main_eval(args, create_shared_model, init_agent)
return
model_to_open = args.load_model
if model_to_open != "":
shared_model = create_shared_model(args)
optimizer = optimizer_type(
filter(lambda p: p.requires_grad, shared_model.parameters()), args)
saved_state = torch.load(model_to_open,
map_location=lambda storage, loc: storage)
shared_model.load_state_dict(saved_state['model'])
optimizer.load_state_dict(saved_state['optimizer'])
optimizer.share_memory()
train_total_ep = saved_state['train_total_ep']
n_frames = saved_state['n_frames']
else:
shared_model = create_shared_model(args)
train_total_ep = 0
n_frames = 0
if shared_model is not None:
shared_model.share_memory()
optimizer = optimizer_type(
filter(lambda p: p.requires_grad, shared_model.parameters()),
args)
optimizer.share_memory()
print(shared_model)
else:
assert (args.agent_type == "RandomNavigationAgent"
), "The model is None but agent is not random agent"
optimizer = None
processes = []
end_flag = mp.Value(ctypes.c_bool, False)
train_res_queue = mp.Queue()
start_time = time.time()
local_start_time_str = time.strftime("%Y-%m-%d_%H:%M:%S",
time.localtime(start_time))
np.random.seed(args.seed)
torch.manual_seed(args.seed)
random.seed(args.seed)
if args.log_dir is not None:
tb_log_dir = args.log_dir + "/" + args.title + "-" + local_start_time_str
log_writer = SummaryWriter(log_dir=tb_log_dir)
else:
log_writer = SummaryWriter(comment=args.title)
if args.gpu_ids == -1:
args.gpu_ids = [-1]
else:
torch.cuda.manual_seed(args.seed)
for rank in range(0, args.workers):
p = mp.Process(
target=target,
args=(
rank,
args,
create_shared_model,
shared_model,
init_agent,
optimizer,
train_res_queue,
end_flag,
),
)
p.start()
processes.append(p)
time.sleep(0.1)
print("Train agents created.")
train_thin = args.train_thin
train_scalars = ScalarMeanTracker()
print(train_total_ep)
print(optimizer)
try:
while train_total_ep < args.max_ep:
train_result = train_res_queue.get()
train_scalars.add_scalars(train_result)
train_total_ep += 1
n_frames += train_result["ep_length"]
if (train_total_ep % train_thin) == 0:
log_writer.add_scalar("n_frames", n_frames, train_total_ep)
tracked_means = train_scalars.pop_and_reset()
for k in tracked_means:
log_writer.add_scalar(k + "/train", tracked_means[k],
train_total_ep)
if (train_total_ep % args.ep_save_freq) == 0:
print(n_frames)
if not os.path.exists(args.save_model_dir):
os.makedirs(args.save_model_dir)
state_to_save = shared_model.state_dict()
save_path = os.path.join(
args.save_model_dir,
"{0}_{1}_{2}_{3}.dat".format(args.title, n_frames,
train_total_ep,
local_start_time_str),
)
save_dict = {
'model': state_to_save,
'train_total_ep': train_total_ep,
'optimizer': optimizer.state_dict(),
'n_frames': n_frames
}
torch.save(save_dict, save_path)
#torch.save(state_to_save, save_path)
finally:
log_writer.close()
end_flag.value = True
for p in processes:
time.sleep(0.1)
p.join()
import torch
from datasets.constants import GOAL_SUCCESS_REWARD, STEP_PENALTY
from datasets.constants import DONE
from datasets.environment import Environment
from utils.net_util import gpuify, toFloatTensor
from utils.action_util import get_actions
from utils.net_util import gpuify
from .episode import Episode
from utils import flag_parser
import json
c2p_prob = json.load(open("./data/c2p_prob.json"))
args = flag_parser.parse_arguments()
class BasicEpisode(Episode):
""" Episode for Navigation. """
def __init__(self, args, gpu_id, strict_done=False):
super(BasicEpisode, self).__init__()
self._env = None
self.gpu_id = gpu_id
self.strict_done = strict_done
self.task_data = None
self.glove_embedding = None
self.actions = get_actions(args)
self.done_count = 0
self.duplicate_count = 0
def main():
# 设置进程名称
setproctitle.setproctitle("Train/Test Manager")
# 获取命令行参数
args = flag_parser.parse_arguments()
if args.model == "SAVN":
args.learned_loss = True
args.num_steps = 6
target = savn_val if args.eval else savn_train
else:
args.learned_loss = False
args.num_steps = args.max_episode_length
target = nonadaptivea3c_val if args.eval else nonadaptivea3c_train
# 检查pinned_scene 和 data_source 是否冲突
if args.data_source == "ithor" and args.pinned_scene == True:
raise Exception(
"Cannot set pinned_scene to true when using ithor dataset")
# 获取模型对象类别， 未创建对象 e.g. <class 'models.basemodel.BaseModel'>
create_shared_model = model_class(args.model)
# 获取agent类别，未创建对象 default <class 'agents.navigation_agent.NavigationAgent'>
init_agent = agent_class(args.agent_type)
# 获取优化器对象类别，未创建对象 default <class 'optimizers.shared_adam.SharedAdam'>
optimizer_type = optimizer_class(args.optimizer)
######################## 测试阶段 ################################
if args.eval:
main_eval(args, create_shared_model, init_agent)
return
####################### 训练阶段 #################################
start_time = time.time()
local_start_time_str = time.strftime("%Y-%m-%d_%H:%M:%S",
time.localtime(start_time))
np.random.seed(args.seed)
torch.manual_seed(args.seed)
random.seed(args.seed)
# 设置日志参数
if args.log_dir is not None:
tb_log_dir = args.log_dir + "/" + args.title + "-" + local_start_time_str
log_writer = SummaryWriter(log_dir=tb_log_dir)
else:
log_writer = SummaryWriter(comment=args.title)
if args.gpu_ids == -1:
args.gpu_ids = [-1]
else:
torch.cuda.manual_seed(args.seed)
mp.set_start_method("spawn")
# 创建一个 torch.nn.Module的子类对象
shared_model = create_shared_model(args)
optimizer = optimizer_type(
filter(lambda p: p.requires_grad, shared_model.parameters()), args)
# 加载预先保存的模型
train_total_ep, n_frames = load_checkpoint(args, shared_model, optimizer)
# TODO: delete this after debug
# train_total_ep = 1000001
if shared_model is not None:
# 模型在多进程间共享参数 这个参数是torch.mutiprocessing 调用fork之前必须调用的方法
shared_model.share_memory()
# 创建一个 torch.optim.Optimizer的子类对象
# filter 函数把model中所有需要梯度更新的变量 作为参数送到optimizer的constructor中
optimizer.share_memory()
print(shared_model)
else:
assert (args.agent_type == "RandomNavigationAgent"
), "The model is None but agent is not random agent"
optimizer = None
processes = []
end_flag = mp.Value(ctypes.c_bool, False)
global_ep = mp.Value(ctypes.c_int)
global_ep.value = train_total_ep
# 多进程共享资源队列
train_res_queue = mp.Queue()
# 创建多进程
# target 进程执行目标函数
#
for rank in range(0, args.workers):
p = mp.Process(
target=target,
args=(rank, args, create_shared_model, shared_model, init_agent,
optimizer, train_res_queue, end_flag, global_ep),
)
p.start()
processes.append(p)
time.sleep(0.1)
print("Train agents created.")
train_thin = args.train_thin
train_scalars = ScalarMeanTracker()
# 主线程
try:
while train_total_ep < args.max_ep:
train_result = train_res_queue.get()
train_scalars.add_scalars(train_result)
train_total_ep += 1
global_ep.value = train_total_ep
n_frames += train_result["ep_length"]
if (train_total_ep % train_thin) == 0:
log_writer.add_scalar("n_frames", n_frames, train_total_ep)
tracked_means = train_scalars.pop_and_reset()
for k in tracked_means:
log_writer.add_scalar(k + "/train", tracked_means[k],
train_total_ep)
if (train_total_ep % args.ep_save_freq) == 0:
print(n_frames)
if not os.path.exists(args.save_model_dir):
os.makedirs(args.save_model_dir)
state_to_save = shared_model.state_dict()
save_path = os.path.join(
args.save_model_dir,
"{0}_{1}_{2}_{3}.dat".format(args.title, n_frames,
train_total_ep,
local_start_time_str),
)
torch.save(state_to_save, save_path)
if (train_total_ep % args.ep_save_ckpt) == 0:
print("save check point at episode {}".format(train_total_ep))
checkpoint = {
'train_total_ep': train_total_ep,
'n_frames': n_frames,
'shared_model': shared_model.state_dict(),
'optimizer': optimizer.state_dict()
}
checkpoint_path = os.path.join(args.save_model_dir,
"checkpoint.dat")
torch.save(checkpoint, checkpoint_path)
finally:
log_writer.close()
end_flag.value = True
for p in processes:
time.sleep(0.1)
p.join()
import torchvision
from tensorboardX import SummaryWriter
import tensorwatch as tw
# from models.model_io import ModelInput, ModelOptions, ModelOutput
from utils.flag_parser import parse_arguments
import torch.jit as jit
# embed basemodel.py
import torch
import torch.nn as nn
import torch.nn.functional as F
from utils.net_util import norm_col_init, weights_init
from models import MatchModel
if __name__ == '__main__':
args = parse_arguments()
device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
# device = 'cpu'
model = MatchModel(args).to(device)
# model_input = ModelInput()
state = torch.zeros(1, 512, 7, 7).to(device) # [1,512,7,7]
hidden = (
torch.zeros(1, args.hidden_state_sz).to(device), # [1,512]
torch.zeros(1, args.hidden_state_sz).to(device), # [1,512]
)
target_class_embedding = torch.zeros(300).to(device) # [300]
action_probs = torch.zeros(1, args.action_space).to(
device) # [1, #(ACTION_SPACE)]
# model_opts = ModelOptions()
def main():
print('Starting.')
setproctitle.setproctitle('A3C Manager')
args = flag_parser.parse_arguments()
create_shared_model = model.Model
init_agent = agent.A3CAgent
optimizer_type = optimizer_class(args.optimizer)
start_time = time.time()
local_start_time_str = \
time.strftime("%Y-%m-%d_%H:%M:%S", time.localtime(start_time))
# Seed sources of randomness.
np.random.seed(args.seed)
torch.manual_seed(args.seed)
random.seed(args.seed)
if args.enable_logging:
from tensorboardX import SummaryWriter
log_dir = 'runs/' + args.title + '-' + local_start_time_str
log_writer = SummaryWriter(log_dir=log_dir)
if args.gpu_ids == -1:
args.gpu_ids = [-1]
else:
torch.cuda.manual_seed(args.seed)
mp.set_start_method('spawn', force=True)
print('=> Creating the shared model and optimizer.')
shared_model = create_shared_model(args)
shared_model.share_memory()
if (args.resume):
shared_model.load_state_dict(torch.load('./models/last_model'))
elif (args.load_model != ''):
shared_model.load_state_dict(torch.load(args.load_model))
else:
print("NO MODEL SUPPLIED")
return
print('=> Creating the agents.')
processes = []
end_flag = mp.Value(ctypes.c_bool, False)
## TEST ##
if (args.num_test_episodes == 0):
return
print("Testing...")
# Turn on random initialization for testing
args.randomize_objects = True
end_flag.value = False
test_res_queue = mp.Queue()
for rank in range(0, args.workers):
p = mp.Process(target=train.test,
args=(rank, args, create_shared_model, shared_model,
init_agent, test_res_queue, end_flag))
p.start()
processes.append(p)
print('* Agent created.')
time.sleep(0.1)
test_total_ep = 0
n_frames = 0
test_thin = args.test_thin
test_scalars = ScalarMeanTracker()
try:
while test_total_ep < args.num_test_episodes:
test_result = test_res_queue.get()
test_scalars.add_scalars(test_result)
test_total_ep += 1
n_frames += test_result["ep_length"]
if args.enable_logging and test_total_ep % test_thin == 0:
log_writer.add_scalar("n_frames", n_frames, test_total_ep)
tracked_means = test_scalars.pop_and_reset()
for k in tracked_means:
log_writer.add_scalar(k + "/test", tracked_means[k],
test_total_ep)
finally:
if args.enable_logging:
log_writer.close()
end_flag.value = True
for p in processes:
time.sleep(0.1)
p.join()
def main():
print('Starting.')
setproctitle.setproctitle('A3C Manager')
args = flag_parser.parse_arguments()
create_shared_model = model.Model
init_agent = agent.A3CAgent
optimizer_type = optimizer_class(args.optimizer)
start_time = time.time()
local_start_time_str = \
time.strftime("%Y-%m-%d_%H:%M:%S", time.localtime(start_time))
# Seed sources of randomness.
np.random.seed(args.seed)
torch.manual_seed(args.seed)
random.seed(args.seed)
if args.enable_logging:
from tensorboardX import SummaryWriter
log_dir = 'runs/' + args.prepend_log + args.title + '-' + local_start_time_str
log_writer = SummaryWriter(log_dir=log_dir)
if args.gpu_ids == -1:
args.gpu_ids = [-1]
else:
torch.cuda.manual_seed(args.seed)
mp.set_start_method('spawn', force=True)
print('=> Creating the shared model and optimizer.')
shared_model = create_shared_model(args)
shared_model.share_memory()
optimizer = optimizer_type(
filter(lambda p: p.requires_grad, shared_model.parameters()), args)
optimizer.share_memory()
if (args.resume):
shared_model.load_state_dict(
torch.load('./models/{}_last_model'.format(args.prepend_log)))
elif (args.load_model != ''):
shared_model.load_state_dict(torch.load(args.load_model))
print('=> Creating the agents.')
processes = []
end_flag = mp.Value(ctypes.c_bool, False)
train_res_queue = mp.Queue()
for rank in range(0, args.workers):
p = mp.Process(target=train.train,
args=(rank, args, create_shared_model, shared_model,
init_agent, optimizer, train_res_queue, end_flag))
p.start()
processes.append(p)
print('* Agent created.')
time.sleep(0.1)
train_total_ep = 0
n_frames = 0
train_thin = args.train_thin
train_scalars = ScalarMeanTracker()
success_tracker = []
try:
while train_total_ep < args.num_train_episodes:
train_result = train_res_queue.get()
train_scalars.add_scalars(train_result)
train_total_ep += 1
n_frames += train_result["ep_length"]
if train_total_ep % 100 == 0:
torch.save(
shared_model.state_dict(),
'./models/{}_model_{}'.format(args.prepend_log,
train_total_ep))
if args.enable_logging and train_total_ep % train_thin == 0:
log_writer.add_scalar("n_frames", n_frames, train_total_ep)
tracked_means = train_scalars.pop_and_reset()
for k in tracked_means:
log_writer.add_scalar(k + "/train", tracked_means[k],
train_total_ep)
success_tracker.append(train_result["success"])
if len(success_tracker) > 100:
success_tracker.pop(0)
if len(success_tracker) >= 100 and sum(success_tracker) / len(
success_tracker) > args.train_threshold:
break
finally:
if args.enable_logging:
log_writer.close()
end_flag.value = True
for p in processes:
time.sleep(0.1)
p.join()
torch.save(shared_model.state_dict(),
'./models/{}_last_model'.format(args.prepend_log))
def main():
torch.backends.cudnn.deterministic = True
torch.backends.cudnn.benchmark = False
args = flag_parser.parse_arguments()
create_shared_model = model_class(args.model)
init_agent = agent_class(args.agent_type)
args.episode_type = "TestValEpisode"
args.test_or_val = "val"
tb_log_dir = args.log_dir + "/" + '{}_{}_{}'.format(
args.title, args.test_or_val,
time.strftime("%Y-%m-%d_%H:%M:%S", time.localtime(time.time())))
log_writer = SummaryWriter(log_dir=tb_log_dir)
print('Start Loading!')
optimal_action_path = './data/AI2thor_Combine_Dataset/Optimal_Path_Combine.json'
with open(optimal_action_path, 'r') as read_file:
optimal_action_dict = json.load(read_file)
manager = Manager()
optimal_action = manager.dict()
optimal_action.update(optimal_action_dict)
glove_file_path = './data/AI2thor_Combine_Dataset/det_feature_512_eval.hdf5'
glove_file = hdf5_to_dict(glove_file_path)
print('Loading Success!')
# Get all valid saved_models for the given title and sort by train_ep.
checkpoints = [(f, f.split("_")) for f in os.listdir(args.save_model_dir)]
checkpoints = [(f, int(s[-3])) for (f, s) in checkpoints
if len(s) >= 4 and f.startswith(args.title)]
checkpoints.sort(key=lambda x: x[1])
best_model_on_val = None
best_performance_on_val = 0.0
for (f, train_ep) in tqdm(checkpoints, desc="Checkpoints."):
model = os.path.join(args.save_model_dir, f)
args.load_model = model
# run eval on model
args.test_or_val = "val"
main_eval(args, create_shared_model, init_agent, glove_file,
optimal_action)
# check if best on val.
with open(args.results_json, "r") as f:
results = json.load(f)
if results["success"] > best_performance_on_val:
best_model_on_val = model
best_performance_on_val = results["success"]
log_writer.add_scalar("val/success", results["success"], train_ep)
log_writer.add_scalar("val/spl", results["spl"], train_ep)
# run on test.
args.test_or_val = "test"
main_eval(args, create_shared_model, init_agent, glove_file,
optimal_action)
with open(args.results_json, "r") as f:
results = json.load(f)
log_writer.add_scalar("test/success", results["success"], train_ep)
log_writer.add_scalar("test/spl", results["spl"], train_ep)
args.record_route = True
args.test_or_val = "test"
args.load_model = best_model_on_val
main_eval(args, create_shared_model, init_agent, glove_file,
optimal_action)
with open(args.results_json, "r") as f:
results = json.load(f)
print(
tabulate(
[
["SPL >= 1:", results["GreaterThan/1/spl"]],
["Success >= 1:", results["GreaterThan/1/success"]],
["SPL >= 5:", results["GreaterThan/5/spl"]],
["Success >= 5:", results["GreaterThan/5/success"]],
],
headers=["Metric", "Result"],
tablefmt="orgtbl",
))
print("Best model:", args.load_model)
def main():
setproctitle.setproctitle("Train/Test Manager")
args = flag_parser.parse_arguments()
if args.model == "BaseModel" or args.model == "GCN":
args.learned_loss = False
args.num_steps = 50
target = nonadaptivea3c_val if args.eval else nonadaptivea3c_train
else:
args.learned_loss = True
args.num_steps = 6
target = savn_val if args.eval else savn_train
create_shared_model = model_class(args.model)
init_agent = agent_class(args.agent_type)
optimizer_type = optimizer_class(args.optimizer)
if args.eval:
main_eval(args, create_shared_model, init_agent)
return
start_time = time.time()
local_start_time_str = time.strftime("%Y-%m-%d_%H:%M:%S",
time.localtime(start_time))
np.random.seed(args.seed)
torch.manual_seed(args.seed)
random.seed(args.seed)
if args.log_dir is not None:
tb_log_dir = args.log_dir + "/" + args.title + "-" + local_start_time_str
log_writer = SummaryWriter(log_dir=tb_log_dir)
else:
log_writer = SummaryWriter(comment=args.title)
if args.gpu_ids == -1:
args.gpu_ids = [-1]
else:
torch.cuda.manual_seed(args.seed)
mp.set_start_method("spawn")
shared_model = create_shared_model(args)
train_total_ep = 0
n_frames = 0
if shared_model is not None:
shared_model.share_memory()
optimizer = optimizer_type(
filter(lambda p: p.requires_grad, shared_model.parameters()), args)
optimizer.share_memory()
print(shared_model)
else:
assert (args.agent_type == "RandomNavigationAgent"
), "The model is None but agent is not random agent"
optimizer = None
processes = []
print('Start Loading!')
optimal_action_path = './data/AI2thor_Combine_Dataset/Optimal_Path_Combine.json'
with open(optimal_action_path, 'r') as read_file:
optimal_action_dict = json.load(read_file)
manager = Manager()
optimal_action = manager.dict()
optimal_action.update(optimal_action_dict)
glove_file_path = './data/AI2thor_Combine_Dataset/det_feature_512_train.hdf5'
glove_file = hdf5_to_dict(glove_file_path)
# det_gt_path = './data/AI2thor_Combine_Dataset/Instance_Detection_Combine.pkl'
# with open(det_gt_path, 'rb') as read_file:
# det_gt = pickle.load(read_file)
print('Loading Success!')
end_flag = mp.Value(ctypes.c_bool, False)
train_res_queue = mp.Queue()
for rank in range(0, args.workers):
p = mp.Process(
target=target,
args=(
rank,
args,
create_shared_model,
shared_model,
init_agent,
optimizer,
train_res_queue,
end_flag,
glove_file,
optimal_action,
# det_gt,
),
)
p.start()
processes.append(p)
time.sleep(0.1)
print("Train agents created.")
train_thin = args.train_thin
train_scalars = ScalarMeanTracker()
# start_ep_time = time.time()
try:
while train_total_ep < args.max_ep:
train_result = train_res_queue.get()
train_scalars.add_scalars(train_result)
train_total_ep += 1
n_frames += train_result["ep_length"]
# if train_total_ep % 10 == 0:
# print(n_frames / train_total_ep)
# print((time.time() - start_ep_time) / train_total_ep)
if (train_total_ep % train_thin) == 0:
log_writer.add_scalar("n_frames", n_frames, train_total_ep)
tracked_means = train_scalars.pop_and_reset()
for k in tracked_means:
log_writer.add_scalar(k + "/train", tracked_means[k],
train_total_ep)
if (train_total_ep % args.ep_save_freq) == 0:
print(n_frames)
if not os.path.exists(args.save_model_dir):
os.makedirs(args.save_model_dir)
state_to_save = shared_model.state_dict()
save_path = os.path.join(
args.save_model_dir,
"{0}_{1}_{2}_{3}.dat".format(args.title, n_frames,
train_total_ep,
local_start_time_str),
)
torch.save(state_to_save, save_path)
finally:
log_writer.close()
end_flag.value = True
for p in processes:
time.sleep(0.1)
p.join()
