def main(args):
if args.ckpt_load_iter == args.max_iter:
print("Initializing test dataset")
solver = Solver(args)
print('--------------------', args.dataset_name,
'----------------------')
test_path = os.path.join(args.dataset_dir, args.dataset_name, 'test')
args.batch_size = 5
_, test_loader = data_loader(args, test_path, shuffle=True)
solver.evaluate_dist(test_loader, loss=False)
solver.check_feat(test_loader)
gh = True
print("GEN HEAT MAP: ", gh)
traj_path = 'traj_zD_20_dr_mlp_0.3_dr_rnn_0.25_enc_hD_64_dec_hD_128_mlpD_256_map_featD_32_map_mlpD_256_lr_0.001_klw_50.0_ll_prior_w_1.0_zfb_0.07_run_4'
traj_iter = '13000'
traj_ckpt = {
'ckpt_dir': os.path.join('ckpts', traj_path),
'iter': traj_iter
}
print('===== TRAJECTORY:', traj_ckpt)
lg_path = 'lgcvae_enc_block_1_fcomb_block_2_wD_10_lr_0.001_lg_klw_1_a_0.25_r_2.0_fb_2.0_anneal_e_0_load_e_1_run_21'
lg_iter = '26000'
lg_ckpt = {'ckpt_dir': os.path.join('ckpts', lg_path), 'iter': lg_iter}
print('===== LG CVAE:', lg_iter)
solver.pretrain_load_checkpoint(traj_ckpt, lg_ckpt)
# solver.plot_traj_var(test_loader)
# solver.evaluate_dist_gt_goal(test_loader)
# solver.check_feat(test_loader)
lg_num = 5
traj_num = 4
ade_min, fde_min, \
ade_avg, fde_avg, \
ade_std, fde_std, \
sg_ade_min, sg_ade_avg, sg_ade_std, \
lg_fde_min, lg_fde_avg, lg_fde_std = solver.all_evaluation(test_loader, lg_num=lg_num, traj_num=traj_num, generate_heat=gh)
print('lg_num: ', lg_num, ' // traj_num: ', traj_num)
print('ade min: ', ade_min)
print('ade avg: ', ade_avg)
print('ade std: ', ade_std)
print('fde min: ', fde_min)
print('fde avg: ', fde_avg)
print('fde std: ', fde_std)
print('sg_ade_min: ', sg_ade_min)
print('sg_ade_avg: ', sg_ade_avg)
print('sg_ade_std: ', sg_ade_std)
print('lg_fde_min: ', lg_fde_min)
print('lg_fde_avg: ', lg_fde_avg)
print('lg_fde_std: ', lg_fde_std)
print('------------------------------------------')
lg_num = 20
traj_num = 1
ade_min, fde_min, \
ade_avg, fde_avg, \
ade_std, fde_std, \
sg_ade_min, sg_ade_avg, sg_ade_std, \
lg_fde_min, lg_fde_avg, lg_fde_std = solver.all_evaluation(test_loader, lg_num=lg_num, traj_num=traj_num, generate_heat=gh)
print('lg_num: ', lg_num, ' // traj_num: ', traj_num)
print('ade min: ', ade_min)
print('ade avg: ', ade_avg)
print('ade std: ', ade_std)
print('fde min: ', fde_min)
print('fde avg: ', fde_avg)
print('fde std: ', fde_std)
print('sg_ade_min: ', sg_ade_min)
print('sg_ade_avg: ', sg_ade_avg)
print('sg_ade_std: ', sg_ade_std)
print('lg_fde_min: ', lg_fde_min)
print('lg_fde_avg: ', lg_fde_avg)
print('lg_fde_std: ', lg_fde_std)
print('------------------------------------------')
ade_min, fde_min, \
ade_avg, fde_avg, \
ade_std, fde_std, \
sg_ade_min, sg_ade_avg, sg_ade_std, \
lg_fde_min, lg_fde_avg, lg_fde_std = solver.evaluate_dist(test_loader, loss=False)
print('ade min: ', ade_min)
print('ade avg: ', ade_avg)
print('ade std: ', ade_std)
print('fde min: ', fde_min)
print('fde avg: ', fde_avg)
print('fde std: ', fde_std)
print('sg_ade_min: ', sg_ade_min)
print('sg_ade_avg: ', sg_ade_avg)
print('sg_ade_std: ', sg_ade_std)
print('lg_fde_min: ', lg_fde_min)
print('lg_fde_avg: ', lg_fde_avg)
print('lg_fde_std: ', lg_fde_std)
print('------------------------------------------')
else:
solver = Solver(args)
solver.train()
def main(args):
if args.ckpt_load_iter == args.max_iter:
print("Initializing test dataset")
solver = Solver(args)
print('--------------------', args.dataset_name, '----------------------')
args.batch_size = 4
# cfg = Config('nuscenes', False, create_dirs=True)
# torch.set_default_dtype(torch.float32)
# log = open('log.txt', 'a+')
# test_loader = data_generator(cfg, log, split='test', phase='testing',
# batch_size=args.batch_size, device=args.device, scale=args.scale, shuffle=False)
_, test_loader = data_loader(args, args.dataset_dir, 'test', shuffle=False)
# solver.load_checkpoint()
# solver.check_feat(test_loader)
# solver.evaluate_lg(test_loader, num_gen=3)
# solver.evaluate_each(test_loader)
# solver.collision_stat(test_loader)
solver.evaluate_dist(test_loader, loss=True)
#
# fde_min, fde_avg, fde_std = solver.evaluate_dist(test_loader, loss=False)
# print(fde_min)
# print(fde_avg)
# print(fde_std)
gh = True
print("GEN HEAT MAP: ", gh)
traj_path = 'sdd.traj_zD_20_dr_mlp_0.3_dr_rnn_0.25_enc_hD_64_dec_hD_128_mlpD_256_map_featD_32_map_mlpD_256_lr_0.001_klw_50.0_ll_prior_w_1.0_zfb_0.07_scale_100.0_num_sg_3_run_200'
traj_iter = '15000'
traj_ckpt = {'ckpt_dir': os.path.join('ckpts', traj_path), 'iter': traj_iter}
print('===== TRAJECTORY:', traj_ckpt)
# lg_path = 'lgcvae_enc_block_1_fcomb_block_2_wD_20_lr_0.001_lg_klw_1_a_0.25_r_2.0_fb_0.5_anneal_e_0_load_e_1_run_24'
# lg_iter = '57100'
lg_path = 'sdd.lgcvae_enc_block_1_fcomb_block_2_wD_20_lr_0.0001_lg_klw_1.0_a_0.25_r_2.0_fb_0.5_anneal_e_0_aug_1_run_181'
lg_iter = '43000'
lg_ckpt = {'ckpt_dir': os.path.join('ckpts', lg_path), 'iter': lg_iter}
print('===== LG CVAE:', lg_ckpt)
solver.pretrain_load_checkpoint(traj_ckpt, lg_ckpt)
# solver.check_feat(test_loader)
# solver.plot_traj_var(test_loader)
# solver.evaluate_dist_gt_goal(test_loader)
# solver.check_feat(test_loader)
lg_num=20
traj_num=1
ade_min, fde_min, \
ade_avg, fde_avg, \
ade_std, fde_std, \
sg_ade_min, sg_ade_avg, sg_ade_std, \
lg_fde_min, lg_fde_avg, lg_fde_std = solver.all_evaluation(test_loader, lg_num=lg_num, traj_num=traj_num, generate_heat=gh)
print('lg_num: ', lg_num, ' // traj_num: ', traj_num)
print('ade min: ', ade_min)
print('ade avg: ', ade_avg)
print('ade std: ', ade_std)
print('fde min: ', fde_min)
print('fde avg: ', fde_avg)
print('fde std: ', fde_std)
print('sg_ade_min: ', sg_ade_min)
print('sg_ade_avg: ', sg_ade_avg)
print('sg_ade_std: ', sg_ade_std)
print('lg_fde_min: ', lg_fde_min)
print('lg_fde_avg: ', lg_fde_avg)
print('lg_fde_std: ', lg_fde_std)
print('------------------------------------------')
lg_num = 10
traj_num = 2
ade_min, fde_min, \
ade_avg, fde_avg, \
ade_std, fde_std, \
sg_ade_min, sg_ade_avg, sg_ade_std, \
lg_fde_min, lg_fde_avg, lg_fde_std = solver.all_evaluation(test_loader, lg_num=lg_num, traj_num=traj_num, generate_heat=gh)
print('lg_num: ', lg_num, ' // traj_num: ', traj_num)
print('ade min: ', ade_min)
print('ade avg: ', ade_avg)
print('ade std: ', ade_std)
print('fde min: ', fde_min)
print('fde avg: ', fde_avg)
print('fde std: ', fde_std)
print('sg_ade_min: ', sg_ade_min)
print('sg_ade_avg: ', sg_ade_avg)
print('sg_ade_std: ', sg_ade_std)
print('lg_fde_min: ', lg_fde_min)
print('lg_fde_avg: ', lg_fde_avg)
print('lg_fde_std: ', lg_fde_std)
print('------------------------------------------')
ade_min, fde_min, \
ade_avg, fde_avg, \
ade_std, fde_std, \
sg_ade_min, sg_ade_avg, sg_ade_std, \
lg_fde_min, lg_fde_avg, lg_fde_std = solver.evaluate_dist(test_loader, loss=False)
print('ade min: ', ade_min)
print('ade avg: ', ade_avg)
print('ade std: ', ade_std)
print('fde min: ', fde_min)
print('fde avg: ', fde_avg)
print('fde std: ', fde_std)
print('sg_ade_min: ', sg_ade_min)
print('sg_ade_avg: ', sg_ade_avg)
print('sg_ade_std: ', sg_ade_std)
print('lg_fde_min: ', lg_fde_min)
print('lg_fde_avg: ', lg_fde_avg)
print('lg_fde_std: ', lg_fde_std)
print('------------------------------------------')
else:
solver = Solver(args)
solver.train()
