merge

.env.template

@@ -0,0 +1,13 @@
+# .env template
+
+# Path for logs
+LOG_FOLDER=
+
+# Your HPC account code
+NYU_HPC_ACCOUNT=
+
+# NYU ID
+USERNAME=
+
+SINGULARITY_IMAGE=
+OVERLAY_FILE=

.gitignore

@@ -189,7 +189,6 @@ celerybeat.pid
 *.sage.py
 
 # Environments
-.env
 .venv
 venv/
 ENV/
@@ -239,4 +238,11 @@ pyrightconfig.json
 
 *~
 
+# Environment variables
+# To be manually created using .env.template
+.env
+
+# Logs
+examples/experiments/scripts/logs/*
+
 # End of https://www.toptal.com/developers/gitignore/api/python,c++

baselines/ippo/config/ippo_ff_sb3.yaml

@@ -11,6 +11,8 @@ collision_weight: 0.0
 goal_achieved_weight: 1.0
 off_road_weight: 0.0
 remove_non_vehicles: false
+polyline_reduction_threshold: 0.4
+observation_radius: 60.0
 
 resample_scenarios: false
 resample_criterion: "global_step"  # Options: "global_step"
@@ -19,8 +21,8 @@ resample_mode: "random"  # Options: "random"
 
 render: true
 render_mode: "rgb_array"
-render_freq: 50  # Render every k rollouts
-render_n_worlds: 10  # Number of scenarios to render
+render_freq: 100  # Render every k rollouts
+render_n_worlds: 1  # Number of scenarios to render
 
 track_time_to_solve: false
 

baselines/ippo/ippo_pufferlib.py

@@ -7,50 +7,60 @@
 """
 
 import os
+from typing import Optional
+from typing_extensions import Annotated
 import yaml
 from datetime import datetime
 import torch
 import wandb
 from box import Box
 from integrations.rl.puffer import ppo
 from integrations.rl.puffer.puffer_env import env_creator
-from integrations.rl.puffer.utils import Policy, LiDARPolicy
+from integrations.rl.puffer.utils import Policy
 
 import pufferlib
 import pufferlib.vector
 import pufferlib.frameworks.cleanrl
 from rich.console import Console
 
+import typer
+from typer import Typer
+
+app = Typer()
+
+
 def load_config(config_path):
     """Load the configuration file."""
     # fmt: off
     with open(config_path, "r") as f:
         config = Box(yaml.safe_load(f))
 
     datetime_ = datetime.now().strftime("%m_%d_%H_%M_%S")
-    
+
     if config["train"]["resample_scenes"]:
-       
+
         if config["train"]["resample_scenes"]:
             dataset_size = config["train"]["resample_dataset_size"]
-        
+
         config["train"]["exp_id"] = f'{config["train"]["exp_id"]}__R_{dataset_size}__{datetime_}'
     else:
         dataset_size = str(config["environment"]["k_unique_scenes"])
         config["train"]["exp_id"] = f'{config["train"]["exp_id"]}__S_{dataset_size}__{datetime_}'
-    
+
     config["environment"]["dataset_size"] = dataset_size
     config["train"]["device"] = config["train"].get("device", "cpu")  # Default to 'cpu' if not set
     if torch.cuda.is_available():
         config["train"]["device"] = "cuda"  # Set to 'cuda' if available
     # fmt: on
     return pufferlib.namespace(**config)
 
+
 def make_policy(env):
     """Create a policy based on the environment."""
     return pufferlib.frameworks.cleanrl.Policy(Policy(env))
 
-def train(args):
+
+def train(args, make_env):
     """Main training loop for the PPO agent."""
     args.wandb = init_wandb(args, args.train.exp_id, id=args.train.exp_id)
     args.train.__dict__.update(dict(args.wandb.config.train))
@@ -139,9 +149,74 @@ def sweep(args, project="PPO", sweep_name="my_sweep"):
     wandb.agent(sweep_id, lambda: train(args), count=100)
 
 
-if __name__ == "__main__":
+@app.command()
+def run(
+    config_path: Annotated[
+        str, typer.Argument(help="The path to the default configuration file")
+    ] = "baselines/ippo/config/ippo_ff_puffer.yaml",
+    *,
+    # fmt: off
+    # Environment options
+    num_worlds: Annotated[Optional[int], typer.Option(help="Number of parallel envs")] = None,
+    k_unique_scenes: Annotated[Optional[int], typer.Option(help="The number of unique scenes to sample")] = None,
+    collision_weight: Annotated[Optional[float], typer.Option(help="The weight for collision penalty")] = None,
+    off_road_weight: Annotated[Optional[float], typer.Option(help="The weight for off-road penalty")] = None,
+    goal_achieved_weight: Annotated[Optional[float], typer.Option(help="The weight for goal-achieved reward")] = None,
+    dist_to_goal_threshold: Annotated[Optional[float], typer.Option(help="The distance threshold for goal-achieved")] = None,
+    sampling_seed: Annotated[Optional[int], typer.Option(help="The seed for sampling scenes")] = None,
+    obs_radius: Annotated[Optional[float], typer.Option(help="The radius for the observation")] = None,
+    # Train options
+    learning_rate: Annotated[Optional[float], typer.Option(help="The learning rate for training")] = None,
+    resample_scenes: Annotated[Optional[int], typer.Option(help="Whether to resample scenes during training; 0 or 1")] = None,
+    resample_interval: Annotated[Optional[int], typer.Option(help="The interval for resampling scenes")] = None,
+    total_timesteps: Annotated[Optional[int], typer.Option(help="The total number of training steps")] = None,
+    ent_coef: Annotated[Optional[float], typer.Option(help="Entropy coefficient")] = None,
+    # Wandb logging options
+    project: Annotated[Optional[str], typer.Option(help="WandB project name")] = None,
+    entity: Annotated[Optional[str], typer.Option(help="WandB entity name")] = None,
+    group: Annotated[Optional[str], typer.Option(help="WandB group name")] = None,
+):
+    """Run PPO training with the given configuration."""
+    # fmt: on
 
-    config = load_config("baselines/ippo/config/ippo_ff_puffer.yaml")
+    # Load default configs
+    config = load_config(config_path)
+
+    # Override configs with command-line arguments
+    env_config = {
+        "num_worlds": num_worlds,
+        "k_unique_scenes": k_unique_scenes,
+        "collision_weight": collision_weight,
+        "off_road_weight": off_road_weight,
+        "goal_achieved_weight": goal_achieved_weight,
+        "dist_to_goal_threshold": dist_to_goal_threshold,
+        "sampling_seed": sampling_seed,
+        "obs_radius": obs_radius,
+    }
+    config.environment.update(
+        {k: v for k, v in env_config.items() if v is not None}
+    )
+    train_config = {
+        "learning_rate": learning_rate,
+        "resample_scenes": None
+        if resample_scenes is None
+        else bool(resample_scenes),
+        "resample_interval": resample_interval,
+        "total_timesteps": total_timesteps,
+        "ent_coef": ent_coef,
+    }
+    config.train.update(
+        {k: v for k, v in train_config.items() if v is not None}
+    )
+
+    wandb_config = {
+        "project": project,
+        "entity": entity,
+        "group": group,
+    }
+    config.wandb.update(
+        {k: v for k, v in wandb_config.items() if v is not None}
+    )
 
     make_env = env_creator(
         data_dir=config.data_dir,
@@ -151,4 +226,8 @@ def sweep(args, project="PPO", sweep_name="my_sweep"):
     )
 
     if config.mode == "train":
-        train(config)
+        train(config, make_env)
+
+
+if __name__ == "__main__":
+    app()

baselines/ippo/ippo_sb3.py

@@ -40,6 +40,8 @@ def train(exp_config: Box, scene_config: SceneConfig):
         off_road_weight=exp_config.off_road_weight,
         episode_len=exp_config.episode_len,
         remove_non_vehicles=exp_config.remove_non_vehicles,
+        polyline_reduction_threshold=exp_config.polyline_reduction_threshold,
+        obs_radius=exp_config.observation_radius,
     )
 
     # Select model

environment.yml

@@ -62,4 +62,9 @@ dependencies:
       - urllib3==2.2.1
       - virtualenv==20.25.1
       - zipp==3.18.1
-      - huggingface_hub==0.26.5
+      - huggingface_hub==0.26.5
+      - wandb==0.19.1
+      - python-box==7.3.0
+      - python-dotenv==1.0.1
+      - jax==0.4.0
+      - typer==0.9.0