no crash resnet 34

felipecode · Apr 16, 2019 · 31924cd · 31924cd
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commit 31924cd
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Showing 11 changed files with 26 additions and 17 deletions.
diff --git a/configs/nocrash/resnet34imnet10-nospeed.yaml b/configs/nocrash/resnet34imnet10-nospeed.yaml
@@ -2,6 +2,7 @@
 SAVE_SCHEDULE: range(0,1000001, 2000) # The iterations where training checkpoints are going to be saved
 NUMBER_OF_LOADING_WORKERS: 12   # Number of threads used in the data loader
 MAGICAL_SEED: 26957017
+FINISH_ON_VALIDATION_STALE: 'TrainValidation'
 #### Input related parameters ####
 # A dictionary with all the sensors that are going to be used as input
 # this should match the train dataset

diff --git a/configs/nocrash/resnet34imnet100-nospeed.yaml b/configs/nocrash/resnet34imnet100-nospeed.yaml
@@ -2,6 +2,7 @@
 SAVE_SCHEDULE: range(0,1000001, 2000) # The iterations where training checkpoints are going to be saved
 NUMBER_OF_LOADING_WORKERS: 12   # Number of threads used in the data loader
 MAGICAL_SEED: 26957017
+FINISH_ON_VALIDATION_STALE: 'TrainValidation'
 #### Input related parameters ####
 # A dictionary with all the sensors that are going to be used as input
 # this should match the train dataset

diff --git a/configs/nocrash/resnet34imnet100.yaml b/configs/nocrash/resnet34imnet100.yaml
@@ -2,6 +2,7 @@
 SAVE_SCHEDULE: range(0,1000001, 2000) # The iterations where training checkpoints are going to be saved
 NUMBER_OF_LOADING_WORKERS: 12   # Number of threads used in the data loader
 MAGICAL_SEED: 26957017
+FINISH_ON_VALIDATION_STALE: 'TrainValidation'
 #### Input related parameters ####
 # A dictionary with all the sensors that are going to be used as input
 # this should match the train dataset

diff --git a/configs/nocrash/resnet34imnet10S1.yaml b/configs/nocrash/resnet34imnet10S1.yaml
@@ -2,6 +2,7 @@
 SAVE_SCHEDULE: range(0,1000001, 2000) # The iterations where training checkpoints are going to be saved
 NUMBER_OF_LOADING_WORKERS: 12   # Number of threads used in the data loader
 MAGICAL_SEED: 26957017
+FINISH_ON_VALIDATION_STALE: 'TrainValidation'
 #### Input related parameters ####
 # A dictionary with all the sensors that are going to be used as input
 # this should match the train dataset

diff --git a/configs/nocrash/resnet34imnet10S2.yaml b/configs/nocrash/resnet34imnet10S2.yaml
@@ -2,6 +2,7 @@
 SAVE_SCHEDULE: range(0,1000001, 2000) # The iterations where training checkpoints are going to be saved
 NUMBER_OF_LOADING_WORKERS: 12   # Number of threads used in the data loader
 MAGICAL_SEED: 26957017
+FINISH_ON_VALIDATION_STALE: 'TrainValidation'
 #### Input related parameters ####
 # A dictionary with all the sensors that are going to be used as input
 # this should match the train dataset

diff --git a/docs/exploring_limitations.md b/docs/exploring_limitations.md
@@ -1,7 +1,6 @@
 Exploring the Limitations of Behavior Cloning for Autonomous Driving
 ====================================================================
 
-### Reproducing the results
 
 #### Downloading Checkpoints
 
@@ -14,18 +13,24 @@ all the needed files.
     python3 tools/download_nocrash_models.py
 
 
-#### Models present
+#### Models available
 
- * *resnet34imnet10S1*: is the model with the random seed 1 from Figure 6 and it is also our best model
- * *resnet34imnet10S2*: is the model with the random seed 2 from Figure 6
- * *resnetmodel without the speed prediction and ten hours of training (Yellow model Fig. 5)
- * 
+ * *resnet34imnet10S1*: is the model with the random seed 1 from Figure 6 
+ * *resnet34imnet10S2*: is the model with the random seed 2 from Figure 6 and it is also our best model (Green Model Fig. 5)
+ * *resnet34imnet10-nospeed*: without the speed prediction and ten hours of training (Yellow model Fig. 5)
+ * *resnet34imnet100*: the model with 100 hours of demonstrations (Blue model Fig. 5)
+ * *resnet34imnet100-nospeed*: the model with 100 hours of demonstrations and no speed prediction (Red model Fig. 5)
 
 
 
+#### Reproducing the results
 
-#### View our best model driving 
+To reproduce one any of these models run:
 
+python3 coiltraine.py -de 
+
+
+To test all of them in batch:
 
 
 

diff --git a/drive/suites/carla100_new_town_suite.py → drive/suites/nocrash_new_town_suite.py b/drive/suites/carla100_new_town_suite.py → drive/suites/nocrash_new_town_suite.py
@@ -16,10 +16,10 @@
 
 
 
-class CARLA100NewTown(ExperimentSuite):
+class NocrashNewTown(ExperimentSuite):
 
     def __init__(self):
-        super(CARLA100NewTown, self).__init__('Town02')
+        super(NocrashNewTown, self).__init__('Town02')
 
     @property
     def train_weathers(self):

diff --git a/drive/suites/carla100_new_weather_suite.py → drive/suites/nocrash_new_weather_suite.py b/drive/suites/carla100_new_weather_suite.py → drive/suites/nocrash_new_weather_suite.py
@@ -13,10 +13,10 @@
 from carla.settings import CarlaSettings
 from carla.driving_benchmark.experiment_suites.experiment_suite import ExperimentSuite
 
-class CARLA100NewWeather(ExperimentSuite):
+class NocrashNewWeather(ExperimentSuite):
 
     def __init__(self):
-        super(CARLA100NewWeather, self).__init__('Town01')
+        super(NocrashNewWeather, self).__init__('Town01')
 
     @property
     def train_weathers(self):

diff --git a/...suites/carla100_new_weather_town_suite.py → .../suites/nocrash_new_weather_town_suite.py b/...suites/carla100_new_weather_town_suite.py → .../suites/nocrash_new_weather_town_suite.py
@@ -16,10 +16,10 @@
 
 
 
-class CARLA100NewWeatherTown(ExperimentSuite):
+class NocrashNewWeatherTown(ExperimentSuite):
 
     def __init__(self):
-        super(CARLA100NewWeatherTown, self).__init__('Town02')
+        super(NocrashNewWeatherTown, self).__init__('Town02')
 
     @property
     def train_weathers(self):

diff --git a/drive/suites/carla100_training_suite.py → drive/suites/nocrash_training_suite.py b/drive/suites/carla100_training_suite.py → drive/suites/nocrash_training_suite.py
@@ -14,12 +14,11 @@
 from carla.driving_benchmark.experiment_suites.experiment_suite import ExperimentSuite
 
 
-# TODO: maybe add aditional tasks ( NO dynamic obstacles for instace !)
 
-class CARLA100Training(ExperimentSuite):
+class NocrashTraining(ExperimentSuite):
 
     def __init__(self):
-        super(CARLA100Training, self).__init__('Town01')
+        super(NocrashTraining, self).__init__('Town01')
 
     @property
     def train_weathers(self):

diff --git a/tools/download_nocrash_models.py b/tools/download_nocrash_models.py
@@ -14,7 +14,7 @@
 
     # Download the full data from the models
     print ("Downloading the coil models checkpoints   1.1 GB")
-    file_id = '1ISOaTjMS-c-73krlIewCLuneTjNxz5XI'
+    file_id = '1U4GpTMUN2PWpTQd96gDP2XGVk4OwzONg'
     destination_pack = 'nocrash_basic.tar.xz'
 
     download_file_from_google_drive(file_id, destination_pack)