From 89eb8bdd0b1e701fed1b7b006f99376999a47363 Mon Sep 17 00:00:00 2001
From: sacardoz <sacardoz@uwaterloo.ca>
Date: Sat, 30 Dec 2023 02:49:34 -0500
Subject: [PATCH] PDM WORKS
---
experiments/test_notebook.ipynb | 148 +++++++++++-------
.../ml_planner_agents_observation.yaml | 26 +++
.../observation/ml_planner_agents.py | 81 ++++++----
3 files changed, 169 insertions(+), 86 deletions(-)
diff --git a/experiments/test_notebook.ipynb b/experiments/test_notebook.ipynb
index 1b183ce..60cbb31 100644
--- a/experiments/test_notebook.ipynb
+++ b/experiments/test_notebook.ipynb
@@ -26,7 +26,7 @@
"name": "stderr",
"output_type": "stream",
"text": [
- "/tmp/ipykernel_235422/4095267831.py:5: DeprecationWarning: Importing display from IPython.core.display is deprecated since IPython 7.14, please import from IPython display\n",
+ "/tmp/ipykernel_16674/4095267831.py:5: DeprecationWarning: Importing display from IPython.core.display is deprecated since IPython 7.14, please import from IPython display\n",
" from IPython.core.display import display, HTML\n"
]
}
@@ -105,18 +105,23 @@
"metadata": {},
"outputs": [
{
- "data": {
- "text/plain": [
- "'/media/sacardoz/Storage/nuplan-devkit/experiments'"
- ]
- },
- "execution_count": 3,
- "metadata": {},
- "output_type": "execute_result"
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "/media/sacardoz/Storage/nuplan-devkit\n"
+ ]
+ },
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/IPython/core/magics/osm.py:417: UserWarning: using dhist requires you to install the `pickleshare` library.\n",
+ " self.shell.db['dhist'] = compress_dhist(dhist)[-100:]\n"
+ ]
}
],
"source": [
- "%pwd"
+ "%cd .."
]
},
{
@@ -173,7 +178,7 @@
" f\"planner.pdm_hybrid_planner.checkpoint_path={hybrid_ckpt}\" ,\n",
" 'observation.model_config=${model}',\n",
" f'observation.checkpoint_path={ckpt_dir}',\n",
- " f'observation.planner_type=pdm_closed',\n",
+ " f'observation.planner_type=pdm_hybrid',\n",
" f'observation.pdm_hybrid_ckpt={hybrid_ckpt}',\n",
" f'observation.occlusions=true',\n",
" 'worker=sequential',\n",
@@ -205,34 +210,34 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-23 20:52:26,435 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19} Building WorkerPool...\n",
- "2023-12-23 20:52:26,437 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101} Worker: Sequential\n",
- "2023-12-23 20:52:26,437 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102} Number of nodes: 1\n",
+ "2023-12-30 01:57:45,114 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:19} Building WorkerPool...\n",
+ "2023-12-30 01:57:45,115 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:101} Worker: Sequential\n",
+ "2023-12-30 01:57:45,115 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/utils/multithreading/worker_pool.py:102} Number of nodes: 1\n",
"Number of CPUs per node: 1\n",
"Number of GPUs per node: 0\n",
"Number of threads across all nodes: 1\n",
- "2023-12-23 20:52:26,437 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27} Building WorkerPool...DONE!\n",
- "2023-12-23 20:52:26,437 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32} Building experiment folders...\n",
- "2023-12-23 20:52:26,437 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35} \n",
+ "2023-12-30 01:57:45,115 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/worker_pool_builder.py:27} Building WorkerPool...DONE!\n",
+ "2023-12-30 01:57:45,115 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:32} Building experiment folders...\n",
+ "2023-12-30 01:57:45,115 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:35} \n",
"\n",
- "\tFolder where all results are stored: /media/sacardoz/Storage/nuplan/exp/exp/simulation/closed_loop_multiagent/2023.12.23.20.52.26\n",
+ "\tFolder where all results are stored: /media/sacardoz/Storage/nuplan/exp/exp/simulation/closed_loop_multiagent/2023.12.30.01.57.44\n",
"\n",
- "2023-12-23 20:52:26,438 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70} Building experiment folders...DONE!\n",
- "2023-12-23 20:52:26,439 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52} Building AbstractCallback...\n",
- "2023-12-23 20:52:26,439 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68} Building AbstractCallback: 0...DONE!\n",
- "2023-12-23 20:52:26,439 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49} Building simulations...\n",
- "2023-12-23 20:52:26,439 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55} Extracting scenarios...\n",
- "2023-12-23 20:52:26,439 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83} Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
- "2023-12-23 20:52:26,439 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
- "2023-12-23 20:52:26,452 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
- "2023-12-23 20:52:26,452 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35} Building ScenarioFilter...\n",
- "2023-12-23 20:52:26,453 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44} Building ScenarioFilter...DONE!\n",
- "2023-12-23 20:52:26,470 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76} Building metric engines...\n",
- "2023-12-23 20:52:26,498 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78} Building metric engines...DONE\n",
- "2023-12-23 20:52:26,498 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82} Building simulations from 1 scenarios...\n",
- "2023-12-23 20:52:26,633 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:18} Building TorchModuleWrapper...\n",
- "2023-12-23 20:52:26,669 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:21} Building TorchModuleWrapper...DONE!\n",
- "2023-12-23 20:52:27,238 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142} Building simulations...DONE!\n"
+ "2023-12-30 01:57:45,117 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/folder_builder.py:70} Building experiment folders...DONE!\n",
+ "2023-12-30 01:57:45,117 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:52} Building AbstractCallback...\n",
+ "2023-12-30 01:57:45,117 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_callback_builder.py:68} Building AbstractCallback: 0...DONE!\n",
+ "2023-12-30 01:57:45,117 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:49} Building simulations...\n",
+ "2023-12-30 01:57:45,117 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:55} Extracting scenarios...\n",
+ "2023-12-30 01:57:45,117 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/common/utils/distributed_scenario_filter.py:83} Building Scenarios in mode DistributedMode.SINGLE_NODE\n",
+ "2023-12-30 01:57:45,118 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:18} Building AbstractScenarioBuilder...\n",
+ "2023-12-30 01:57:45,129 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_building_builder.py:21} Building AbstractScenarioBuilder...DONE!\n",
+ "2023-12-30 01:57:45,130 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:35} Building ScenarioFilter...\n",
+ "2023-12-30 01:57:45,131 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/scenario_filter_builder.py:44} Building ScenarioFilter...DONE!\n",
+ "2023-12-30 01:57:45,149 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:76} Building metric engines...\n",
+ "2023-12-30 01:57:45,181 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:78} Building metric engines...DONE\n",
+ "2023-12-30 01:57:45,181 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:82} Building simulations from 1 scenarios...\n",
+ "2023-12-30 01:57:45,315 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:18} Building TorchModuleWrapper...\n",
+ "2023-12-30 01:57:45,353 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/model_builder.py:21} Building TorchModuleWrapper...DONE!\n",
+ "2023-12-30 01:57:45,912 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/script/builders/simulation_builder.py:142} Building simulations...DONE!\n"
]
}
],
@@ -445,8 +450,8 @@
"\n",
"while runner.simulation.is_simulation_running():\n",
"\n",
- " if runner.simulation._time_controller.get_iteration().index == 10:\n",
- " runner.simulation._observations.add_agent_to_scene(inserted_agent, inserted_goal, iteration.time_point)\n",
+ " #if runner.simulation._time_controller.get_iteration().index == 10:\n",
+ " # runner.simulation._observations.add_agent_to_scene(inserted_agent, inserted_goal, iteration.time_point)\n",
"\n",
" # Execute specific callback\n",
" runner.simulation.callback.on_step_start(runner.simulation.setup, runner.planner)\n",
@@ -466,7 +471,6 @@
" iteration = runner.simulation._time_controller.get_iteration()\n",
" print(iteration)\n",
" runner.simulation.propagate(trajectory)\n",
- "\n",
" # Execute specific callback\n",
" runner.simulation.callback.on_step_end(runner.simulation.setup, runner.planner, runner.simulation.history.last())\n",
"\n",
@@ -476,10 +480,8 @@
{
"cell_type": "code",
"execution_count": null,
- "id": "e6c22f5f",
- "metadata": {
- "scrolled": true
- },
+ "id": "ee4f6784",
+ "metadata": {},
"outputs": [
{
"name": "stderr",
@@ -498,7 +500,7 @@
" (function() {\n",
" const xhr = new XMLHttpRequest()\n",
" xhr.responseType = 'blob';\n",
- " xhr.open('GET', \"http://localhost:5009/autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5009&resources=none\", true);\n",
+ " xhr.open('GET', \"http://localhost:5003/autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5003&resources=none\", true);\n",
" xhr.onload = function (event) {\n",
" const script = document.createElement('script');\n",
" const src = URL.createObjectURL(event.target.response);\n",
@@ -512,7 +514,7 @@
},
"metadata": {
"application/vnd.bokehjs_exec.v0+json": {
- "server_id": "7d9bc83475124657aff7017705e9f4df"
+ "server_id": "bb87f5db2a334639a9b38e52166acc51"
}
},
"output_type": "display_data"
@@ -521,26 +523,54 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-23 20:59:59,909 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml'. Is this a 'parquet' file?: Could not open Parquet input source 'run_sim_closed_loop/training_raster_experiment/train_default_raster/2023.11.14.22.55.23/hparams.yaml': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-12-23 20:59:59,910 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-12-23 20:59:59,910 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-12-23 20:59:59,911 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt'. Is this a 'parquet' file?: Could not open Parquet input source 'pretrained_checkpoints/gc_pgp_checkpoint.ckpt': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-12-23 20:59:59,911 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-12-23 20:59:59,911 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-12-23 20:59:59,911 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-12-23 20:59:59,912 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
- "2023-12-23 20:59:59,914 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172} Minimum frame time=0.017 s\n"
+ "2023-12-30 02:47:05,264 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet file size is 0 bytes\n",
+ "2023-12-30 02:47:05,265 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,266 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'tutorials/media/nuplan_flow.svg'. Is this a 'parquet' file?: Could not open Parquet input source 'tutorials/media/nuplan_flow.svg': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,266 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,266 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,266 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,267 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,267 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,267 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,267 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,268 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,268 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from '.github/ISSUE_TEMPLATE/bug_report.md'. Is this a 'parquet' file?: Could not open Parquet input source '.github/ISSUE_TEMPLATE/bug_report.md': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,268 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,269 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,269 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,269 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,278 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'nuplan/BUILD'. Is this a 'parquet' file?: Could not open Parquet input source 'nuplan/BUILD': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,279 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'nuplan_devkit.egg-info/PKG-INFO'. Is this a 'parquet' file?: Could not open Parquet input source 'nuplan_devkit.egg-info/PKG-INFO': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,279 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'tox/requirements_pythonlint.txt'. Is this a 'parquet' file?: Could not open Parquet input source 'tox/requirements_pythonlint.txt': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,280 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,280 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'docs/Makefile'. Is this a 'parquet' file?: Could not open Parquet input source 'docs/Makefile': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,281 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,281 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,281 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,282 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,282 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,282 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,282 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,283 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,283 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from 'experiments/bulk_running_experiments.ipynb'. Is this a 'parquet' file?: Could not open Parquet input source 'experiments/bulk_running_experiments.ipynb': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,283 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Error creating dataset. Could not read schema from '.git/COMMIT_EDITMSG'. Is this a 'parquet' file?: Could not open Parquet input source '.git/COMMIT_EDITMSG': Parquet file size is 5 bytes, smaller than the minimum file footer (8 bytes)\n",
+ "2023-12-30 02:47:05,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet file size is 0 bytes\n",
+ "2023-12-30 02:47:05,288 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,289 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/experiment_file_data.py:140} Could not open Parquet input source '<Buffer>': Parquet magic bytes not found in footer. Either the file is corrupted or this is not a parquet file.\n",
+ "2023-12-30 02:47:05,300 INFO {/media/sacardoz/Storage/nuplan-devkit/nuplan/planning/nuboard/base/simulation_tile.py:172} Minimum frame time=0.017 s\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
- "Rendering a scenario: 100%|██████████| 1/1 [00:00<00:00, 30.44it/s]\n",
+ "Rendering a scenario: 100%|██████████| 1/1 [00:00<00:00, 43.62it/s]\n",
"WARNING:bokeh.core.validation.check:W-1000 (MISSING_RENDERERS): Plot has no renderers: Figure(id='1005', ...)\n",
- "INFO:tornado.access:200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5009&resources=none (::1) 1063.26ms\n",
- "INFO:tornado.access:101 GET /ws?id=cd802e51-de22-41c8-bc8e-99ef2dff2bff&origin=da2f890a-eb18-4637-9199-dd0f06169aef&swVersion=4&extensionId=&platform=electron&vscode-resource-base-authority=vscode-resource.vscode-cdn.net&parentOrigin=vscode-file%3A%2F%2Fvscode-app&purpose=notebookRenderer (::1) 0.62ms\n",
+ "INFO:tornado.access:200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5003&resources=none (::1) 1044.77ms\n",
"INFO:bokeh.server.views.ws:WebSocket connection opened\n",
+ "INFO:tornado.access:101 GET /ws?id=1473284a-b32b-43ae-9821-e330d67bdb31&origin=da2f890a-eb18-4637-9199-dd0f06169aef&swVersion=4&extensionId=&platform=electron&vscode-resource-base-authority=vscode-resource.vscode-cdn.net&parentOrigin=vscode-file%3A%2F%2Fvscode-app&purpose=notebookRenderer (::1) 0.82ms\n",
"INFO:bokeh.server.views.ws:ServerConnection created\n"
]
},
@@ -548,15 +578,15 @@
"name": "stdout",
"output_type": "stream",
"text": [
- "2023-12-23 21:00:00,955 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5009&resources=none (::1) 1063.26ms\n",
- "2023-12-23 21:00:00,986 INFO {/media/sacardoz/Storage/nuplan-devkit/tutorials/utils/tutorial_utils.py:267} Done rendering!\n",
- "2023-12-23 21:00:00,987 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 101 GET /ws?id=cd802e51-de22-41c8-bc8e-99ef2dff2bff&origin=da2f890a-eb18-4637-9199-dd0f06169aef&swVersion=4&extensionId=&platform=electron&vscode-resource-base-authority=vscode-resource.vscode-cdn.net&parentOrigin=vscode-file%3A%2F%2Fvscode-app&purpose=notebookRenderer (::1) 0.62ms\n"
+ "2023-12-30 02:47:06,295 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 200 GET /autoload.js?bokeh-autoload-element=1003&bokeh-absolute-url=http://localhost:5003&resources=none (::1) 1044.77ms\n",
+ "2023-12-30 02:47:06,344 INFO {/media/sacardoz/Storage/nuplan-devkit/tutorials/utils/tutorial_utils.py:267} Done rendering!\n",
+ "2023-12-30 02:47:06,351 INFO {/home/sacardoz/miniconda3/envs/nuplan/lib/python3.9/site-packages/tornado/web.py:2344} 101 GET /ws?id=1473284a-b32b-43ae-9821-e330d67bdb31&origin=da2f890a-eb18-4637-9199-dd0f06169aef&swVersion=4&extensionId=&platform=electron&vscode-resource-base-authority=vscode-resource.vscode-cdn.net&parentOrigin=vscode-file%3A%2F%2Fvscode-app&purpose=notebookRenderer (::1) 0.82ms\n"
]
}
],
"source": [
"from tutorials.utils.tutorial_utils import visualize_history\n",
- "visualize_history(runner.simulation._history, runner.scenario, bokeh_port=5009)"
+ "visualize_history(runner.simulation._history, runner.scenario, bokeh_port=5003)"
]
}
],
diff --git a/nuplan/planning/script/config/simulation/observation/ml_planner_agents_observation.yaml b/nuplan/planning/script/config/simulation/observation/ml_planner_agents_observation.yaml
index fe8ec0e..eb6c5fa 100644
--- a/nuplan/planning/script/config/simulation/observation/ml_planner_agents_observation.yaml
+++ b/nuplan/planning/script/config/simulation/observation/ml_planner_agents_observation.yaml
@@ -6,3 +6,29 @@ checkpoint_path: ??? # Path to trained model checkpoint
occlusions: false # Boolean to determine whether occlusions should be enabled
planner_type: "ml" # String to determine planner type (one of "ml", "idm", "pdm_closed", "pdm_hybrid")
pdm_hybrid_ckpt: null # Path to trained PDM hybrid model checkpoint
+
+tracker:
+ _target_: nuplan.planning.simulation.controller.tracker.lqr.LQRTracker
+ _convert_: 'all'
+
+ # LQR tuning
+ q_longitudinal: [10.0] # velocity tracking cost gain
+ r_longitudinal: [1.0] # acceleration tracking cost gain
+ q_lateral: [1.0, 10.0, 0.0] # [lateral_error, heading_error, steering_angle] tracking cost gains
+ r_lateral: [1.0] # steering_rate tracking cost gain
+ discretization_time: 0.1 # [s] The time interval used for discretizing the continuous time dynamics.
+ tracking_horizon: 10 # The number of time steps (at discretization_time interval) ahead we consider for LQR.
+
+ # Parameters for velocity and curvature estimation.
+ jerk_penalty: 1e-4 # Penalty for jerk in velocity profile estimation.
+ curvature_rate_penalty: 1e-2 # Penalty for curvature rate in curvature profile estimation.
+
+ # Stopping logic
+ stopping_proportional_gain: 0.5 # Proportional controller tuning for stopping controller
+ stopping_velocity: 0.2 # [m/s] Velocity threshold for stopping
+
+motion_model:
+ _target_: nuplan.planning.simulation.controller.motion_model.kinematic_bicycle.KinematicBicycleModel
+ _convert_: 'all'
+
+ vehicle: ${scenario_builder.vehicle_parameters}
diff --git a/nuplan/planning/simulation/observation/ml_planner_agents.py b/nuplan/planning/simulation/observation/ml_planner_agents.py
index 79354eb..b07f94f 100644
--- a/nuplan/planning/simulation/observation/ml_planner_agents.py
+++ b/nuplan/planning/simulation/observation/ml_planner_agents.py
@@ -11,10 +11,14 @@ from nuplan.common.actor_state.state_representation import StateSE2, StateVector
from nuplan.common.actor_state.tracked_objects import TrackedObject, TrackedObjects
from nuplan.common.actor_state.tracked_objects_types import TrackedObjectType
from nuplan.common.actor_state.vehicle_parameters import VehicleParameters
+from nuplan.common.geometry.transform import translate_longitudinally
from nuplan.common.maps.abstract_map import AbstractMap
-from nuplan.common.maps.abstract_map_objects import LaneGraphEdgeMapObject, RoadBlockGraphEdgeMapObject
+from nuplan.common.maps.abstract_map_objects import LaneGraphEdgeMapObject
from nuplan.planning.scenario_builder.abstract_scenario import AbstractScenario
+from nuplan.planning.simulation.controller.motion_model.abstract_motion_model import AbstractMotionModel
+from nuplan.planning.simulation.controller.tracker.abstract_tracker import AbstractTracker
+from nuplan.planning.simulation.controller.two_stage_controller import TwoStageController
from nuplan.planning.simulation.history.simulation_history_buffer import SimulationHistoryBuffer
from nuplan.planning.simulation.observation.abstract_observation import AbstractObservation
from nuplan.planning.simulation.observation.observation_type import Observation
@@ -25,6 +29,7 @@ from nuplan.planning.simulation.planner.idm_planner import IDMPlanner
from nuplan.planning.simulation.planner.ml_planner.ml_planner import MLPlanner
from nuplan.planning.simulation.simulation_time_controller.simulation_iteration import SimulationIteration
+from nuplan.planning.simulation.trajectory.abstract_trajectory import AbstractTrajectory
from nuplan.planning.training.modeling.torch_module_wrapper import TorchModuleWrapper
from nuplan.planning.simulation.trajectory.trajectory_sampling import TrajectorySampling
@@ -56,24 +61,30 @@ IDM_AGENT_CONFIG = {
PDM_CLOSED_AGENT_CONFIG = {
"trajectory_sampling": TrajectorySampling(num_poses=80, interval_length= 0.1),
"proposal_sampling": TrajectorySampling(num_poses=40, interval_length= 0.1),
- "idm_policies": BatchIDMPolicy(speed_limit_fraction= [0.2,0.4,0.6,0.8,1.0],
- fallback_target_velocity= 15.0,
- min_gap_to_lead_agent= 1.0,
- headway_time= 1.5,
- accel_max= 1.5,
- decel_max= 3.0),
"lateral_offsets": [-1.0, 1.0],
"map_radius": 50,
}
+PDM_BATCH_IDM_CONFIG = {
+ "speed_limit_fraction":[0.2,0.4,0.6,0.8,1.0],
+ "fallback_target_velocity":15.0,
+ "min_gap_to_lead_agent":1.0,
+ "headway_time":1.5,
+ "accel_max":1.5,
+ "decel_max":3.0
+}
+
+PDM_OFFSET_MODEL_CONFIG = {
+ "trajectory_sampling": TrajectorySampling(num_poses=16, interval_length=0.5),
+ "history_sampling": TrajectorySampling(num_poses=10, interval_length=0.2),
+ "planner": None,
+ "centerline_samples": 120,
+ "centerline_interval": 1.0,
+ "hidden_dim": 512
+}
+
PDM_HYBRID_AGENT_CONFIG = {
- "model":PDMOffsetModel(trajectory_sampling=TrajectorySampling(num_poses=16, interval_length=0.5),
- history_sampling=TrajectorySampling(num_poses=10, interval_length=0.2),
- planner=None,
- centerline_samples=120,
- centerline_interval=1.0,
- hidden_dim=512),
- "correction_horizon":2.0,
+ "correction_horizon": 2.0,
}
@@ -82,7 +93,7 @@ class MLPlannerAgents(AbstractObservation):
Simulate agents based on an ML model.
"""
- def __init__(self, model: TorchModuleWrapper, scenario: AbstractScenario, occlusions: bool, planner_type: str, pdm_hybrid_ckpt: str) -> None:
+ def __init__(self, model: TorchModuleWrapper, scenario: AbstractScenario, occlusions: bool, planner_type: str, pdm_hybrid_ckpt: str, tracker: AbstractTracker, motion_model: AbstractMotionModel) -> None:
"""
Initializes the MLPlannerAgents class.
:param model: Model to use for inference.
@@ -100,6 +111,8 @@ class MLPlannerAgents(AbstractObservation):
self._inference_frequency: float = 0.2
self._full_inference_distance: float = 30
+ self._motion_controller = TwoStageController(scenario, tracker, motion_model)
+
def reset(self) -> None:
"""Inherited, see superclass."""
self.current_iteration = 0
@@ -202,9 +215,21 @@ class MLPlannerAgents(AbstractObservation):
planner_input = PlannerInput(iteration=iteration, history=history_input, traffic_light_data=traffic_light_data)
trajectory = agent_data['planner'].compute_trajectory(planner_input)
self._trajectory_cache[agent_token] = (next_iteration.time_point.time_s, trajectory)
-
- agent_data['ego_state'] = trajectory.get_state_at_time(next_iteration.time_point)
+
+ agent_data['ego_state'] = self._get_new_state_from_trajectory(iteration, next_iteration, agent_data['ego_state'], trajectory)
self._ego_state_history[agent_token][next_iteration.time_point] = agent_data['ego_state']
+
+
+ def _get_new_state_from_trajectory(self, current_iteration: SimulationIteration,
+ next_iteration: SimulationIteration,
+ ego_state: EgoState,
+ trajectory: AbstractTrajectory) -> EgoState:
+ """
+ Gets the state of the agent at a given timepoint from a trajectory.
+ """
+ self._motion_controller.reset()
+ self._motion_controller.update_state(current_iteration, next_iteration, ego_state, trajectory)
+ return self._motion_controller.get_state()
def _build_ego_state_from_agent(self, agent: Agent, time_point: TimePoint) -> EgoState:
"""
@@ -219,10 +244,11 @@ class MLPlannerAgents(AbstractObservation):
self._ego_state_history[agent.metadata.track_token] = {}
# Most of this is just eyeballed, so there may be a more principled way of setting these values.
- output = EgoState.build_from_center(
- center=agent.center,
- center_velocity_2d=agent.velocity if self.planner_type != "idm" else StateVector2D(agent.velocity.magnitude(), 0),
- center_acceleration_2d=StateVector2D(0, 0),
+
+ output = EgoState.build_from_rear_axle(
+ rear_axle_pose=translate_longitudinally(agent.center, agent.box.length * 1 / 5 - agent.box.length / 2),
+ rear_axle_velocity_2d=StateVector2D(agent.velocity.magnitude(), 0), #EgoState and Agent uses different velocity representations. It's very weird.
+ rear_axle_acceleration_2d=StateVector2D(0, 0),
tire_steering_angle=0,
time_point=time_point,
vehicle_parameters=VehicleParameters(
@@ -244,12 +270,14 @@ class MLPlannerAgents(AbstractObservation):
"""
Builds agent state from corresponding ego state. Unlike the inverse this process is well-defined.
"""
+ track_heading = ego_state.car_footprint.oriented_box.center.heading
+ velocity = ego_state.dynamic_car_state.center_velocity_2d
agent_state = Agent(
metadata=scene_object_metadata,
tracked_object_type=TrackedObjectType.VEHICLE,
oriented_box=ego_state.car_footprint.oriented_box,
- velocity=ego_state.dynamic_car_state.center_velocity_2d,
+ velocity=StateVector2D(np.cos(track_heading) * velocity.magnitude(), np.sin(track_heading) * velocity.magnitude())
)
return agent_state
@@ -317,12 +345,10 @@ class MLPlannerAgents(AbstractObservation):
"""
# TODO: Inject IDM agents (and non-ML agents more broadly)
- self._agents[agent.metadata.track_token] = self._build_agent_record(agent, timepoint_record)
-
route_plan = self._get_roadblock_path(agent, goal)
if route_plan:
- self._agents[agent.metadata.track_token] = self._build_agent_record(agent, self._scenario.start_time)
+ self._agents[agent.metadata.track_token] = self._build_agent_record(agent, timepoint_record)
# Initialize planner.
planner_init = PlannerInitialization(
@@ -340,10 +366,11 @@ class MLPlannerAgents(AbstractObservation):
elif self.planner_type == "idm":
planner = IDMPlanner(**IDM_AGENT_CONFIG)
elif self.planner_type == "pdm_closed":
- planner = PDMClosedPlanner(**PDM_CLOSED_AGENT_CONFIG)
+ planner = PDMClosedPlanner(**PDM_CLOSED_AGENT_CONFIG, idm_policies=BatchIDMPolicy(**PDM_BATCH_IDM_CONFIG))
elif self.planner_type == "pdm_hybrid":
assert self.pdm_hybrid_ckpt, "Must provide checkpoint path for PDM hybrid planner."
- planner = PDMHybridPlanner(**PDM_CLOSED_AGENT_CONFIG, **PDM_HYBRID_AGENT_CONFIG, checkpoint_path=self.pdm_hybrid_ckpt)
+ planner = PDMHybridPlanner(**PDM_CLOSED_AGENT_CONFIG, idm_policies=BatchIDMPolicy(**PDM_BATCH_IDM_CONFIG), \
+ **PDM_HYBRID_AGENT_CONFIG, model= PDMOffsetModel(**PDM_OFFSET_MODEL_CONFIG), checkpoint_path=self.pdm_hybrid_ckpt)
else:
raise ValueError("Invalid planner type.")
--
GitLab