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start.bash
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#!/bin/bash
# Data Genration
python3 prog_caller.py --proc EXPERT \
--record-data \
--initials PA \
--milestone LaneFollowing \
--num-eps 2 \
--maxstep 1000 \
--exec-path /opt/ml/SimPilotSimServer.x86_64 \
--rawdata-path /opt/ml/data
# Preprocessing the data
python3 prog_caller.py --proc PREPROCESS \
--initials PA \
--milestone LaneFollowing \
--rawdata-path /opt/ml/data \
--processeddata-path /opt/ml/processed
# Training
python3 prog_caller.py --proc TRAIN \
--num-epoch 5 \
--training-df-path /opt/ml/processed/.pkl \
--training-image-path /opt/ml/processed/images \
--model-name pedram_model.pth \
--wandb-name GAN \
--track \
--saved-model \
python3 prog_caller.py --proc INFERENCE --visu
# *****************************************************
# M15 - Overtake
# *****************************************************
# Data Genration - RuleBased Driver
python prog_caller.py --proc EXPERT \
--record-data \
--initials PA \
--milestone M23 \
--task Overtake_FMD \
--num-eps 250 \
--maxstep 7000 \
--exec-path /home/shamsal/Downloads/ExecutablePackage/SimPilotExe_V10_3_0_B140_Highway3LanesOneway/SimPilotSimServer \
--controller TravelAssistUnsafe \
--sumo \
--LaneIDSensor \
--rule-based \
--randomization-env \
--rand-num-vehicles 0 20 \
--new-rand-eps 4 \
--rawdata-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/data/training_data/raw/ \
--img-height 100 \
--img-width 50 \
--bev-size 50 \
--bevoffsetx 10 \
--bevoffsety 0 \
--track \
--spawnpoints-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/scenedata/newspawnpoints.csv
# Data Genration - Sumo Driver
python prog_caller.py --proc EXPERT \
--record-data \
--initials PA \
--milestone M23 \
--task Overtake_FMD \
--num-eps 250 \
--maxstep 7000 \
--exec-path /home/shamsal/Downloads/ExecutablePackage/SimPilotExe_V10_3_0_B140_Highway3LanesOneway/SimPilotSimServer \
--controller TravelAssist \
--sumo \
--LaneIDSensor \
--rule-based \
--randomization-env \
--rand-num-vehicles 0 20 \
--new-rand-eps 4 \
--rawdata-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/data/training_data/raw/ \
--img-height 100 \
--img-width 50 \
--bev-size 50 \
--bevoffsetx 10 \
--bevoffsety 0 \
--track \
--spawnpoints-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/scenedata/newspawnpoints.csv
# Preprocessing the data
python prog_caller.py --proc PREPROCESS \
--initials PA \
--milestone M23 \
--task Overtake_FMD \
--rawdata-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/data/training_data/raw_400_200/ \
--processeddata-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/data/training_data/processed_400_200 \
--sim-steptime 20 \
--pose-steptime 500 \
--num-poses 5 \
--compress \
--compresseddata-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/data/training_data/Compressed \
--compress-name compressed_Ali_400_200_2023_04_03.tar.gz
# TRAINING the data
python prog_caller.py --proc LIGHTNING \
--initials PA \
--milestone M23 \
--task Overtake_FMD \
--bezier \
--travelassist-pred \
--img-height 100 \
--img-width 50 \
--algo BC \
--training-df-path /opt/data/Overtake_merged3/processed/df_balanced.pkl \
--training-image-path /opt/data/Overtake_merged3/processed/images \
--dim-input-feature 6 \
--num-epoch 200 \
--batch-size 256 \
--train-split 0.98 \
--val-starting-point 0.5 \
--encoder resnet18 \
--lr-bc 0.0005 \
--activation LeakyReLU \
--residual \
--track \
--wandb-entity icc-aitp \
--save-model \
--model-path /opt/ml/saved_models_BC \
--model-saverate 1 \
--num-workers 8
# LIGHTNING the data
python prog_caller.py --proc LIGHTNING \
--initials PA \
--milestone M23 \
--task Overtake_FMD \
--bezier \
--travelassist-pred \
--img-height 100 \
--img-width 50 \
--algo BC \
--print-flag \
--training-df-path /opt/data/M19-Overtake_performance_large/df.pkl \
--training-image-path /opt/data/M19-Overtake_performance_large/images \
--dim-input-feature 6 \
--num-epoch 500 \
--batch-size 256 \
--encoder custom \
--lr-bc 0.0005 \
--activation ReLU \
--residual \
--mhsa \
--track \
--wandb-entity icc-aitp \
--save-model \
--model-path /opt/ml/saved_models_BC_M19_2023_05_25_mhsa \
--num-workers 4 \
--num-gpus 6
# LIGHTNING the data - Local
python prog_caller.py --proc LIGHTNING \
--initials AS \
--milestone M23 \
--task Overtake_FMD \
--bezier \
--travelassist-pred \
--img-height 100 \
--img-width 50 \
--algo BC \
--print-flag \
--training-df-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/data/training_data/processed_M19/processed_AS_M19_Overtake_Performance_2023_05_09-09_56.pkl \
--training-image-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/data/training_data/processed_M19/images \
--dim-input-feature 6 \
--num-epoch 600 \
--batch-size 512 \
--encoder custom \
--lr-bc 0.0005 \
--activation ReLU \
--residual \
--mhsa \
--track \
--wandb-entity icc-aitp \
--save-model \
--model-path /home/shamsal/Downloads/saved_models_BC_M19_2023_05_24 \
--num-workers 16 \
--num-gpus 1
# TESTING THE TRAINING the data (SMALL)
python prog_caller.py --proc LIGHTNING \
--initials AS \
--milestone M23 \
--task Overtake_FMD \
--bezier \
--travelassist-pred \
--img-height 100 \
--img-width 50 \
--algo BC \
--training-df-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/data/training_data/processed_M19/processed_AS_M19_Overtake_Performance_2023_05_09-09_56.pkl \
--training-image-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/data/training_data/processed_M19/images \
--dim-input-feature 6 \
--num-epoch 200 \
--batch-size 128 \
--train-split 0.98 \
--val-starting-point 0.5 \
--encoder custom \
--lr-bc 0.0005 \
--activation LeakyReLU \
--wandb-entity icc-aitp \
--save-model \
--model-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/saved_models_BC_M19 \
--model-saverate 1 \
--num-workers 0 \
--dim-input-feature 6 \
--mhsa \
--print-flag \
--multi-opt
# Expert Data evaluation
python3 prog_caller.py --proc EXPERT \
--exec-path /home/shamsal/Downloads/ExecutablePackage/SimPilotExe_V12_0_2_B172_Highway3LanesOneway/SimPilotSimServer \
--bezier \
--milestone M23 \
--task Overtake_FMD \
--travelassist-pred \
--img-height 100 --img-width 50 \
--bev-size 50 \
--bevoffsetx 10 \
--sumo \
--controller TravelAssistUnsafe \
--maxstep 10000 \
--evaluate \
--rawdata-path /home/shamsal/Downloads/cpc_aitp_simpilot_eval/data/expert_metric/ \
--track \
--LaneIDSensor \
--num-eps 20 \
--rule-based \
--record-data