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train.py
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import argparse
import json
import os
from tqdm import tqdm
import numpy as np
import torch
import torch.optim as optim
from torch.utils.data import DataLoader
from torch.utils.tensorboard import SummaryWriter
import torch.nn.functional as F
from config import GlobalConfig
from model import TransFuser
from data import CARLA_Data
torch.cuda.empty_cache()
parser = argparse.ArgumentParser()
parser.add_argument('--id', type=str, default='transfuser', help='Unique experiment identifier.')
parser.add_argument('--device', type=str, default='cuda', help='Device to use')
parser.add_argument('--epochs', type=int, default=101, help='Number of train epochs.')
parser.add_argument('--lr', type=float, default=1e-4, help='Learning rate.')
parser.add_argument('--val_every', type=int, default=1, help='Validation frequency (epochs).')
parser.add_argument('--batch_size', type=int, default=96, help='Batch size')
parser.add_argument('--logdir', type=str, default='log', help='Directory to log data to.')
args = parser.parse_args()
args.logdir = os.path.join(args.logdir, args.id)
writer = SummaryWriter(log_dir=args.logdir)
class Engine(object):
"""Engine that runs training and inference.
Args
- cur_epoch (int): Current epoch.
- print_every (int): How frequently (# batches) to print loss.
- validate_every (int): How frequently (# epochs) to run validation.
"""
def __init__(self, cur_epoch=0, cur_iter=0):
self.cur_epoch = cur_epoch
self.cur_iter = cur_iter
self.bestval_epoch = cur_epoch
self.train_loss = []
self.val_loss = []
self.bestval = 1e10
def train(self):
loss_epoch = 0.
num_batches = 0
red_light_loss = torch.nn.BCELoss()
model.train()
# Train loop
progress = tqdm(dataloader_train)
for data in progress:
# efficiently zero gradients
for p in model.parameters():
p.grad = None
# create batch and move to GPU
fronts_in = data['fronts']
lefts_in = data['lefts']
rights_in = data['rights']
rears_in = data['rears']
lidars_in = data['lidars']
seg_in = data['segs']
fronts = []
seg = []
lefts = []
rights = []
rears = []
lidars = []
for i in range(config.seq_len):
fronts.append(fronts_in[i].to(args.device, dtype=torch.float32))
seg.append(seg_in[i].to(args.device, dtype=torch.float32))
if not config.ignore_sides:
lefts.append(lefts_in[i].to(args.device, dtype=torch.float32))
rights.append(rights_in[i].to(args.device, dtype=torch.float32))
if not config.ignore_rear:
rears.append(rears_in[i].to(args.device, dtype=torch.float32))
lidars.append(lidars_in[i].to(args.device, dtype=torch.float32))
# driving labels
command = data['command'].to(args.device)
gt_velocity = data['velocity'].to(args.device, dtype=torch.float32)
gt_steer = data['steer'].to(args.device, dtype=torch.float32)
gt_throttle = data['throttle'].to(args.device, dtype=torch.float32)
gt_brake = data['brake'].to(args.device, dtype=torch.float32)
gt_tl = data['tl_gts'][0].to(args.device, dtype=torch.float32)
# target point
target_point = torch.stack(data['target_point'], dim=1).to(args.device, dtype=torch.float32)
pred_wp, pred_tl = model(fronts+lefts+rights+rears, lidars, seg, target_point, gt_velocity, self.cur_epoch)
gt_waypoints = [torch.stack(data['waypoints'][i], dim=1).to(args.device, dtype=torch.float32) for i in range(config.seq_len, len(data['waypoints']))]
gt_waypoints = torch.stack(gt_waypoints, dim=1).to(args.device, dtype=torch.float32)
loss = F.l1_loss(pred_wp, gt_waypoints, reduction='none').mean()
if pred_tl is not None:
m = torch.nn.Sigmoid()
tl_loss = red_light_loss(m(pred_tl), gt_tl.unsqueeze(1))
total_loss = (loss+tl_loss)
progress.set_postfix({'epoch': self.cur_epoch, 'tl': tl_loss.item(), 'wp': loss.item()})
else:
total_loss = loss
progress.set_postfix({'epoch': self.cur_epoch, 'wp': loss.item()})
total_loss.backward()
loss_epoch += float(loss.item())
num_batches += 1
optimizer.step()
writer.add_scalar('train_loss', loss.item(), self.cur_iter)
self.cur_iter += 1
loss_epoch = loss_epoch / num_batches
self.train_loss.append(loss_epoch)
self.cur_epoch += 1
def validate(self):
model.eval()
with torch.no_grad():
num_batches = 0
wp_epoch = 0.
# Validation loop
for batch_num, data in enumerate(tqdm(dataloader_val), 0):
# create batch and move to GPU
fronts_in = data['fronts']
lefts_in = data['lefts']
rights_in = data['rights']
rears_in = data['rears']
lidars_in = data['lidars']
seg_in = data['segs']
fronts = []
seg = []
lefts = []
rights = []
rears = []
lidars = []
for i in range(config.seq_len):
fronts.append(fronts_in[i].to(args.device, dtype=torch.float32))
seg.append(seg_in[i].to(args.device, dtype=torch.float32))
if not config.ignore_sides:
lefts.append(lefts_in[i].to(args.device, dtype=torch.float32))
rights.append(rights_in[i].to(args.device, dtype=torch.float32))
if not config.ignore_rear:
rears.append(rears_in[i].to(args.device, dtype=torch.float32))
lidars.append(lidars_in[i].to(args.device, dtype=torch.float32))
# driving labels
command = data['command'].to(args.device)
gt_velocity = data['velocity'].to(args.device, dtype=torch.float32)
gt_steer = data['steer'].to(args.device, dtype=torch.float32)
gt_throttle = data['throttle'].to(args.device, dtype=torch.float32)
gt_brake = data['brake'].to(args.device, dtype=torch.float32)
# target point
target_point = torch.stack(data['target_point'], dim=1).to(args.device, dtype=torch.float32)
pred_wp, _ = model(fronts+lefts+rights+rears, lidars, seg, target_point, gt_velocity, 100)
gt_waypoints = [torch.stack(data['waypoints'][i], dim=1).to(args.device, dtype=torch.float32) for i in range(config.seq_len, len(data['waypoints']))]
gt_waypoints = torch.stack(gt_waypoints, dim=1).to(args.device, dtype=torch.float32)
wp_epoch += float(F.l1_loss(pred_wp, gt_waypoints, reduction='none').mean())
num_batches += 1
wp_loss = wp_epoch / float(num_batches)
tqdm.write(f'Epoch {self.cur_epoch:03d}, Batch {batch_num:03d}:' + f' Wp: {wp_loss:3.3f}')
# writer.add_scalar('val_loss', wp_loss, self.cur_epoch)
self.val_loss.append(wp_loss)
def save(self):
save_best = False
if self.val_loss[-1] <= self.bestval:
self.bestval = self.val_loss[-1]
self.bestval_epoch = self.cur_epoch
save_best = True
# Create a dictionary of all data to save
log_table = {
'epoch': self.cur_epoch,
'iter': self.cur_iter,
'bestval': self.bestval,
'bestval_epoch': self.bestval_epoch,
'train_loss': self.train_loss,
'val_loss': self.val_loss,
}
# Save ckpt for every epoch
torch.save(model.state_dict(), os.path.join(args.logdir, 'model_%d.pth'%self.cur_epoch))
# Save the recent model/optimizer states
torch.save(model.state_dict(), os.path.join(args.logdir, 'model.pth'))
torch.save(optimizer.state_dict(), os.path.join(args.logdir, 'recent_optim.pth'))
# Log other data corresponding to the recent model
with open(os.path.join(args.logdir, 'recent.log'), 'w') as f:
f.write(json.dumps(log_table))
tqdm.write('====== Saved recent model ======>')
if save_best:
torch.save(model.state_dict(), os.path.join(args.logdir, 'best_model.pth'))
torch.save(optimizer.state_dict(), os.path.join(args.logdir, 'best_optim.pth'))
tqdm.write('====== Overwrote best model ======>')
# Config
config = GlobalConfig()
# Data
train_set = CARLA_Data(root=config.train_data, config=config)
val_set = CARLA_Data(root=config.val_data, config=config)
dataloader_train = DataLoader(train_set, batch_size=args.batch_size, shuffle=True, num_workers=8, pin_memory=True)
dataloader_val = DataLoader(val_set, batch_size=args.batch_size, shuffle=False, num_workers=8, pin_memory=True)
# Model
model = TransFuser(config, args.device)
optimizer = optim.Adam(model.parameters(), lr=args.lr)
trainer = Engine()
model_parameters = filter(lambda p: p.requires_grad, model.parameters())
params = sum([np.prod(p.size()) for p in model_parameters])
print ('Total trainable parameters: ', params)
# Create logdir
if not os.path.isdir(args.logdir):
os.makedirs(args.logdir)
print('Created dir:', args.logdir)
elif os.path.isfile(os.path.join(args.logdir, 'recent.log')):
print('Loading checkpoint from ' + args.logdir)
with open(os.path.join(args.logdir, 'recent.log'), 'r') as f:
log_table = json.load(f)
# Load variables
trainer.cur_epoch = log_table['epoch']
if 'iter' in log_table: trainer.cur_iter = log_table['iter']
trainer.bestval = log_table['bestval']
trainer.train_loss = log_table['train_loss']
trainer.val_loss = log_table['val_loss']
# Load checkpoint
model.load_state_dict(torch.load(os.path.join(args.logdir, 'model.pth')))
optimizer.load_state_dict(torch.load(os.path.join(args.logdir, 'recent_optim.pth')))
# Log args
with open(os.path.join(args.logdir, 'args.txt'), 'w') as f:
json.dump(args.__dict__, f, indent=2)
for epoch in range(trainer.cur_epoch, args.epochs):
trainer.train()
if epoch % args.val_every == 0:
trainer.validate()
trainer.save()