def train():
env = cs.TrainingEnvironment()
checkpoint_dir = env.hyperparameters.get("checkpoint_path", env.model_dir)
train_steps = env.hyperparameters.get('training_steps', 1000)
eval_steps = env.hyperparameters.get('evaluation_steps', 100)
# https://github.com/tensorflow/tensorflow/issues/15868
# The default request timeout for S3, within the C++ SDK, is 3 seconds, which times out when
# saving checkpoints of larger sizes.
os.environ['S3_REQUEST_TIMEOUT_MSEC'] = str(
env.hyperparameters.get('s3_checkpoint_save_timeout', 60000))
env.download_user_module()
env.pip_install_requirements()
customer_script = env.import_user_module()
train_wrapper = Trainer(customer_script=customer_script,
current_host=env.current_host,
hosts=env.hosts,
train_steps=train_steps,
eval_steps=eval_steps,
training_path=env.channel_dirs[CHANNEL_DIR],
model_path=checkpoint_dir,
output_path=env.output_dir,
customer_params=env.hyperparameters)
tf_config = train_wrapper.build_tf_config()
# only creating a parameter servers for distributed runs
if len(env.hosts) > 1:
_run_ps_server(env.current_host, env.hosts, tf_config)
save_tf_config_env_var(tf_config)
try:
run.train_and_log_exceptions(train_wrapper, env.output_dir)
# only the master should export the model at the end of the execution
if checkpoint_dir != env.model_dir and train_wrapper.task_type == 'master':
serve.export_saved_model(checkpoint_dir, env.model_dir)
if train_wrapper.task_type != 'master':
_wait_until_master_is_down(_get_master(tf_config))
finally:
# Since threads in Python cannot be stopped, this is the only way to stop the application
# https://stackoverflow.com/questions/9591350/what-is-difference-between-sys-exit0-and-os-exit0
os._exit(0)
def train():
env = cs.TrainingEnvironment()
checkpoint_dir = _get_checkpoint_dir(env)
train_steps = env.hyperparameters.get('training_steps', 1000)
eval_steps = env.hyperparameters.get('evaluation_steps', 100)
# https://github.com/tensorflow/tensorflow/issues/15868
# The default request timeout for S3, within the C++ SDK, is 3 seconds, which times out when
# saving checkpoints of larger sizes.
os.environ['S3_REQUEST_TIMEOUT_MSEC'] = str(
env.hyperparameters.get('s3_checkpoint_save_timeout', 60000))
if env.user_script_archive.lower().startswith('s3://'):
env.download_user_module()
env.pip_install_requirements()
customer_script = env.import_user_module()
trainer_class = _get_trainer_class()
train_wrapper = trainer_class(customer_script=customer_script,
current_host=env.current_host,
hosts=env.hosts,
train_steps=train_steps,
eval_steps=eval_steps,
input_channels=env.channel_dirs,
model_path=checkpoint_dir,
output_path=env.output_dir,
customer_params=env.hyperparameters)
tf_config = train_wrapper.build_tf_config()
# only creating a parameter servers for distributed runs
if len(env.hosts) > 1:
_run_ps_server(env.current_host, env.hosts, tf_config)
save_tf_config_env_var(tf_config)
configure_mkl()
train_wrapper.train()
# only the master should export the model at the end of the execution
if checkpoint_dir != env.model_dir and train_wrapper.task_type == 'master' and train_wrapper.saves_training(
):
serve.export_saved_model(checkpoint_dir, env.model_dir)
if train_wrapper.task_type != 'master':
_wait_until_master_is_down(_get_master(tf_config))
def train():
env = cs.TrainingEnvironment()
print(device_lib.list_local_devices())
os.system('mkdir -p logs')
# ### Loading the files ###
# ** You need to copy all your files to the directory where you are runing this notebook **
# ** into a folder named "data" **
data = []
for root, dirs, files in os.walk('/opt/ml/input/data/train'):
for f in files:
if f.endswith('.zip'):
unzip_file(root, f)
for root, dirs, files in os.walk('/opt/ml/input/data/train'):
data.extend(
[get_data(root, f) for f in sorted(files, key=str.lower) if f.startswith('record') and f.endswith('.json')])
# ### Loading throttle and angle ###
angle = [d[0] for d in data]
angle_array = np.array(angle)
# ### Loading images ###
images = np.array([img_to_array(load_img(os.path.join(d[1], d[2]))) for d in data], 'f')
# slide images vs orders
if env.hyperparameters.get('with_slide', False):
images = images[:len(images) - 2]
angle_array = angle_array[2:]
# ### Start training ###
def linear_bin(a):
a = a + 1
b = round(a / (2 / 14))
arr = np.zeros(15)
arr[int(b)] = 1
return arr
logs = callbacks.TensorBoard(log_dir='logs', histogram_freq=0, write_graph=True, write_images=True)
save_best = callbacks.ModelCheckpoint('/opt/ml/model/model_cat', monitor='val_loss', verbose=1,
save_best_only=True, mode='min')
early_stop = callbacks.EarlyStopping(monitor='val_loss',
min_delta=.0005,
patience=10,
verbose=1,
mode='auto')
# Only for export model to tensorflow
sess = tf.Session()
K.set_session(sess)
# First layer, input layer, Shape comes from camera.py resolution, RGB
img_in = Input(shape=(128, 160, 3),
name='img_in')
x = img_in
# 24 features, 5 pixel x 5 pixel kernel (convolution, feauture) window, 2wx2h stride, relu activation
x = Convolution2D(24, (5, 5), strides=(2, 2), activation='relu')(x)
# 32 features, 5px5p kernel window, 2wx2h stride, relu activatiion
x = Convolution2D(32, (5, 5), strides=(2, 2), activation='relu')(x)
# 64 features, 5px5p kernal window, 2wx2h stride, relu
x = Convolution2D(64, (5, 5), strides=(2, 2), activation='relu')(x)
# 64 features, 3px3p kernal window, 2wx2h stride, relu
x = Convolution2D(64, (3, 3), strides=(2, 2), activation='relu')(x)
# 64 features, 3px3p kernal window, 1wx1h stride, relu
x = Convolution2D(64, (3, 3), strides=(1, 1), activation='relu')(x)
# Possibly add MaxPooling (will make it less sensitive to position in image). Camera angle fixed, so may not to be needed
x = Flatten(name='flattened')(x) # Flatten to 1D (Fully connected)
x = Dense(100, activation='relu')(x) # Classify the data into 100 features, make all negatives 0
x = Dropout(.1)(x)
x = Dense(50, activation='relu')(x)
# Randomly drop out 10% of the neurons (Prevent overfitting)
x = Dropout(.1)(x)
# categorical output of the angle
callbacks_list = [save_best, early_stop, logs]
# Connect every input with every output and output 15 hidden units. Use Softmax to give percentage.
# 15 categories and find best one based off percentage 0.0-1.0
angle_out = Dense(15, activation='softmax', name='angle_out')(x)
angle_cat_array = np.array([linear_bin(a) for a in angle_array])
model = Model(inputs=[img_in], outputs=[angle_out])
model.compile(optimizer='adam',
loss={'angle_out': 'categorical_crossentropy', },
loss_weights={'angle_out': 0.9 })
model.fit({'img_in': images}, {'angle_out': angle_cat_array, }, batch_size=32,
epochs=100, verbose=1, validation_split=0.2, shuffle=True, callbacks=callbacks_list)
# Save model for tensorflow using
builder = tf.saved_model.builder.SavedModelBuilder("/opt/ml/model/tfModel")
# Tag the model, required for Go
builder.add_meta_graph_and_variables(sess, ["myTag"])
builder.save()
sess.close()
def train():
env = cs.TrainingEnvironment()
print(device_lib.list_local_devices())
os.system('mkdir -p logs')
# ### Loading the files ###
# ** You need to copy all your files to the directory where you are runing this notebook into a folder named "data" **
numbers = re.compile(r'(\d+)')
data = []
def get_data(root, f):
d = json.load(open(os.path.join(root, f)))
if ('pilot/throttle' in d):
return [
d['user/mode'], d['user/throttle'], d['user/angle'], root,
d['cam/image_array'], d['pilot/throttle'], d['pilot/angle']
]
else:
return [
d['user/mode'], d['user/throttle'], d['user/angle'], root,
d['cam/image_array']
]
def numericalSort(value):
parts = numbers.split(value)
parts[1::2] = map(int, parts[1::2])
return parts
def unzip_file(root, f):
zip_ref = zipfile.ZipFile(os.path.join(root, f), 'r')
zip_ref.extractall(root)
zip_ref.close()
for root, dirs, files in os.walk('/opt/ml/input/data/train'):
for f in files:
if f.endswith('.zip'):
unzip_file(root, f)
for root, dirs, files in os.walk('/opt/ml/input/data/train'):
data.extend([
get_data(root, f) for f in sorted(files, key=numericalSort)
if f.startswith('record') and f.endswith('.json')
])
# Normalize / correct data
data = [d for d in data if d[1] > 0.1]
for d in data:
if d[1] < 0.2:
d[1] = 0.2
# ### Loading throttle and angle ###
angle = [d[2] for d in data]
throttle = [d[1] for d in data]
angle_array = np.array(angle)
throttle_array = np.array(throttle)
if (len(data[0]) > 5):
pilot_angle = [d[6] for d in data]
pilot_throttle = [d[5] for d in data]
pilot_angle_array = np.array(pilot_angle)
pilot_throttle_array = np.array(pilot_throttle)
else:
pilot_angle = []
pilot_throttle = []
# ### Loading images ###
images = np.array(
[img_to_array(load_img(os.path.join(d[3], d[4]))) for d in data], 'f')
# slide images vs orders
if env.hyperparameters.get('with_slide', False):
images = images[:len(images) - 2]
angle_array = angle_array[2:]
throttle_array = throttle_array[2:]
# ### Start training ###
def linear_bin(a):
a = a + 1
b = round(a / (2 / 14))
arr = np.zeros(15)
arr[int(b)] = 1
return arr
logs = callbacks.TensorBoard(log_dir='logs',
histogram_freq=0,
write_graph=True,
write_images=True)
save_best = callbacks.ModelCheckpoint('/opt/ml/model/model_cat',
monitor='angle_out_loss',
verbose=1,
save_best_only=True,
mode='min')
early_stop = callbacks.EarlyStopping(monitor='angle_out_loss',
min_delta=.0005,
patience=10,
verbose=1,
mode='auto')
img_in = Input(
shape=(120, 160, 3), name='img_in'
) # First layer, input layer, Shape comes from camera.py resolution, RGB
x = img_in
x = Convolution2D(24, (5, 5), strides=(2, 2), activation='relu')(
x
) # 24 features, 5 pixel x 5 pixel kernel (convolution, feauture) window, 2wx2h stride, relu activation
x = Convolution2D(32, (5, 5), strides=(2, 2), activation='relu')(
x) # 32 features, 5px5p kernel window, 2wx2h stride, relu activatiion
x = Convolution2D(64, (5, 5), strides=(2, 2), activation='relu')(
x) # 64 features, 5px5p kernal window, 2wx2h stride, relu
x = Convolution2D(64, (3, 3), strides=(2, 2), activation='relu')(
x) # 64 features, 3px3p kernal window, 2wx2h stride, relu
x = Convolution2D(64, (3, 3), strides=(1, 1), activation='relu')(
x) # 64 features, 3px3p kernal window, 1wx1h stride, relu
# Possibly add MaxPooling (will make it less sensitive to position in image). Camera angle fixed, so may not to be needed
x = Flatten(name='flattened')(x) # Flatten to 1D (Fully connected)
x = Dense(100, activation='relu')(
x) # Classify the data into 100 features, make all negatives 0
x = Dropout(.1)(x)
x = Dense(50, activation='relu')(x)
x = Dropout(.1)(
x) # Randomly drop out 10% of the neurons (Prevent overfitting)
#categorical output of the angle
callbacks_list = [save_best, early_stop, logs]
angle_out = Dense(15, activation='softmax', name='angle_out')(
x
) # Connect every input with every output and output 15 hidden units. Use Softmax to give percentage. 15 categories and find best one based off percentage 0.0-1.0
#continous output of throttle
throttle_out = Dense(1, activation='relu', name='throttle_out')(
x) # Reduce to 1 number, Positive number only
angle_cat_array = np.array([linear_bin(a) for a in angle_array])
model = Model(inputs=[img_in], outputs=[angle_out, throttle_out])
model.compile(optimizer='adam',
loss={
'angle_out': 'categorical_crossentropy',
'throttle_out': 'mean_absolute_error'
},
loss_weights={
'angle_out': 0.9,
'throttle_out': .001
})
model.fit({'img_in': images}, {
'angle_out': angle_cat_array,
'throttle_out': throttle_array
},
batch_size=32,
epochs=100,
verbose=1,
validation_split=0.2,
shuffle=True,
callbacks=callbacks_list)
