been a while

.bash_history

@@ -0,0 +1,8 @@
+ls
+python test_traj.py 
+source /opt/ros/kinetic/setup.bash 
+python test_traj.py 
+ls
+pwd
+ls
+cd data/test_irl/demo_0/

.gitignore

@@ -3,4 +3,7 @@
 .ipynb_checkpoints/
 __pycache__/
 data/
-exp/
+exp/
+.ros/
+.python_history
+.visdom

Dockerfile

@@ -0,0 +1,45 @@
+FROM pytorch/pytorch:0.4.1-cuda9-cudnn7-devel
+ENV TZ=US/Michigan
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+RUN apt-get update && apt-get install -y \
+    git \
+    x11-apps \
+    mesa-utils \
+    libgl1-mesa-glx \
+    apt-utils \
+    python \
+    wget \
+    lsb-release \
+    git 
+
+RUN apt-get update && apt-get -y install rsync
+
+RUN pip install cython numpy==1.15.4 
+RUN pip install numba==0.50.1 matplotlib==2.1.2 
+RUN pip install scipy==1.0.0 seaborn==0.9.0 
+RUN pip install tqdm==4.19.4 visdom==0.1.8.3
+RUN pip install matplotlib
+RUN export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$CUDA_HOME/lib64:$CUDA_HOME/extras/CUPTI/lib64"
+
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+
+RUN apt-get update && apt-get install -y \
+    python-tk \
+    ros-kinetic-desktop-full \
+    ros-kinetic-move-base \
+    ros-kinetic-tf2-sensor-msgs \
+    python-rosdep \
+    python-rosinstall \
+    python-rosinstall-generator \
+    build-essential
+
+RUN rosdep init && rosdep update
+WORKDIR /root/catkin_ws
+RUN pip install rospkg
+# RUN catkin_make
+RUN echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
+ENV ROS_MASTER_URI=http://172.17.0.1:11311
+ENV ROS_IP=172.17.0.1
+ENV DISPLAY=unix$DISPLAY

launch_docker.sh

@@ -0,0 +1,32 @@
+container_name=$1
+xhost +local:
+XAUTH=/home/tribhi/.docker.xauth
+touch $XAUTH
+if [ ! -f $XAUTH ]
+then
+    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    if [ ! -z "$xauth_list" ]
+    then
+        echo $xauth_list | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+docker run -it --net=host\
+    --user=$(id -u) \
+    --env="DISPLAY=$DISPLAY" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --env="USER=$USER" \
+    --workdir=/home/$USER/ \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    --volume="${PWD}:/home/$USER" \
+    --env="XAUTHORITY=$XAUTH" \
+    --volume="$XAUTH:$XAUTH" \
+    -v "/etc/passwd:/etc/passwd:rw" \
+    --gpus all \
+    --runtime nvidia \
+    --security-opt seccomp=unconfined \
+    --name=${container_name} \
+    vehmedirl:ros

loader/data_loader_dynamic.py

@@ -40,7 +40,7 @@ def is_valid_traj(traj):
     return True
 
 class OffroadLoader(Dataset):
-    def __init__(self, grid_size, train=True, demo=None, datadir='/root/medirl/data/irl_jan_12', pre_train=False, tangent=False,
+    def __init__(self, grid_size, train=True, demo=None, datadir='/root/medirl/data/irl_feb_6', pre_train=False, tangent=False,
                  more_kinematic=None, human = False):
         assert grid_size % 2 == 0, "grid size must be even number"
         self.grid_size = grid_size

loader/data_loader_static.py

@@ -49,7 +49,7 @@ def get_traj_length_unique(traj):
 
 
 class OffroadLoader(Dataset):
-    def __init__(self, grid_size, train=True, demo=None, datadir='/root/medirl/data/irl_jan_12/driving', pre_train=False, tangent=False,
+    def __init__(self, grid_size, train=True, demo=None, datadir='data/irl_feb_6/driving', pre_train=False, tangent=False,
                  more_kinematic=None, human = False):
         assert grid_size % 2 == 0, "grid size must be even number"
         self.grid_size = grid_size

loader/data_loader_test.py

@@ -49,7 +49,7 @@ def get_traj_length_unique(traj):
     return np.array(lengths), traj_list
 
 class OffroadLoader(Dataset):
-    def __init__(self, grid_size, train=True, demo=None, datadir='/root/medirl/data/test_irl', pre_train=False, tangent=False,
+    def __init__(self, grid_size, train=True, demo=None, datadir='data/test_irl', pre_train=False, tangent=False,
                  more_kinematic=None, human = False):
         assert grid_size % 2 == 0, "grid size must be even number"
         self.grid_size = grid_size

train_static.py

@@ -96,9 +96,9 @@ def zeroing_loss(c_zero, zeroing_loss):
 grid_size = 32
 discount = 0.9
 lr = 5e-4
-n_epoch = 64
-batch_size = 8
-n_worker = 8
+n_epoch = 128
+batch_size = 2
+n_worker = 2
 use_gpu = True