File size: 4,150 Bytes
9897e20 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 | #!/bin/bash
#SBATCH --partition=gre
#SBATCH --nodes=1
#SBATCH --ntasks=1
#SBATCH --gres=gpu:1
#SBATCH --time=04:00:00
#SBATCH --job-name=gpudrive_longtail_vis
#SBATCH --output=%x-%j.out
#SBATCH --mem=128G
#SBATCH --cpus-per-task=8
set -euo pipefail
PROJECT_ROOT="${PROJECT_ROOT:-/mingli01/project/zihanliu/gpudrive-main}"
CONDA_ENV_NAME="${CONDA_ENV_NAME:-gpudrive}"
CONFIG_PATH="${CONFIG_PATH:-baselines/ppo/config/ppo_mini_reward_conditioned.yaml}"
CHECKPOINT="${CHECKPOINT:-}"
SEARCH_DIR="${SEARCH_DIR:-longtail_outputs/reward_conditioned_search}"
EVENTS_FILE="${EVENTS_FILE:-}"
DATA_DIR="${DATA_DIR:-}"
OUTPUT_DIR="${OUTPUT_DIR:-${SEARCH_DIR}/videos}"
REPLAY_MODE="${REPLAY_MODE:-fast}"
EVENT_TYPE="${EVENT_TYPE:-any}"
MAX_VIDEOS="${MAX_VIDEOS:-4}"
NUM_WORLDS="${NUM_WORLDS:-}"
DATASET_SIZE="${DATASET_SIZE:-864}"
STEPS="${STEPS:-}"
SEED="${SEED:-42}"
DETERMINISTIC="${DETERMINISTIC:-0}"
NORMAL_MODE="${NORMAL_MODE:-}"
NORMAL_STYLE="${NORMAL_STYLE:-balanced}"
RISK_STYLE="${RISK_STYLE:-risk_taker}"
RISK_AGENTS_PER_WORLD="${RISK_AGENTS_PER_WORLD:-}"
RISK_COLLISION_WEIGHT="${RISK_COLLISION_WEIGHT:-}"
RISK_GOAL_WEIGHT="${RISK_GOAL_WEIGHT:-}"
RISK_OFFROAD_WEIGHT="${RISK_OFFROAD_WEIGHT:-}"
RENDER_EVERY="${RENDER_EVERY:-1}"
FPS="${FPS:-5}"
STOP_ON_COLLISION="${STOP_ON_COLLISION:-1}"
RENDER_3D="${RENDER_3D:-0}"
ZOOM_RADIUS="${ZOOM_RADIUS:-70.0}"
OBS_RADIUS="${OBS_RADIUS:-}"
POLYLINE_REDUCTION_THRESHOLD="${POLYLINE_REDUCTION_THRESHOLD:-}"
module load conda/3
source "$(conda info --base)/etc/profile.d/conda.sh"
conda activate "${CONDA_ENV_NAME}"
export PYTHONNOUSERSITE=1
export PYTHONUNBUFFERED=1
export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
export MKL_NUM_THREADS="${MKL_NUM_THREADS:-1}"
export MADRONA_MWGPU_KERNEL_CACHE="${MADRONA_MWGPU_KERNEL_CACHE:-${PROJECT_ROOT}/gpudrive_cache}"
cd "${PROJECT_ROOT}"
export PYTHONPATH="${PROJECT_ROOT}:${PYTHONPATH:-}"
if [[ ! -f "${CONFIG_PATH}" ]]; then
echo "ERROR: config not found: ${CONFIG_PATH}"
exit 1
fi
if [[ ! -d "${SEARCH_DIR}" ]]; then
echo "ERROR: SEARCH_DIR does not exist: ${SEARCH_DIR}"
exit 1
fi
mkdir -p "${OUTPUT_DIR}"
CMD=(
python -u scripts/visualize_longtail_search.py
--config "${CONFIG_PATH}"
--search-dir "${SEARCH_DIR}"
--output-dir "${OUTPUT_DIR}"
--replay-mode "${REPLAY_MODE}"
--event-type "${EVENT_TYPE}"
--max-videos "${MAX_VIDEOS}"
--dataset-size "${DATASET_SIZE}"
--seed "${SEED}"
--deterministic "${DETERMINISTIC}"
--normal-style "${NORMAL_STYLE}"
--risk-style "${RISK_STYLE}"
--render-every "${RENDER_EVERY}"
--fps "${FPS}"
--stop-on-collision "${STOP_ON_COLLISION}"
--render-3d "${RENDER_3D}"
--zoom-radius "${ZOOM_RADIUS}"
)
if [[ -n "${CHECKPOINT}" ]]; then
CMD+=(--checkpoint "${CHECKPOINT}")
fi
if [[ -n "${EVENTS_FILE}" ]]; then
CMD+=(--events-file "${EVENTS_FILE}")
fi
if [[ -n "${DATA_DIR}" ]]; then
CMD+=(--data-dir "${DATA_DIR}")
fi
if [[ -n "${NUM_WORLDS}" ]]; then
CMD+=(--num-worlds "${NUM_WORLDS}")
fi
if [[ -n "${STEPS}" ]]; then
CMD+=(--steps "${STEPS}")
fi
if [[ -n "${NORMAL_MODE}" ]]; then
CMD+=(--normal-mode "${NORMAL_MODE}")
fi
if [[ -n "${RISK_AGENTS_PER_WORLD}" ]]; then
CMD+=(--risk-agents-per-world "${RISK_AGENTS_PER_WORLD}")
fi
if [[ -n "${RISK_COLLISION_WEIGHT}" ]]; then
CMD+=(--risk-collision-weight "${RISK_COLLISION_WEIGHT}")
fi
if [[ -n "${RISK_GOAL_WEIGHT}" ]]; then
CMD+=(--risk-goal-weight "${RISK_GOAL_WEIGHT}")
fi
if [[ -n "${RISK_OFFROAD_WEIGHT}" ]]; then
CMD+=(--risk-offroad-weight "${RISK_OFFROAD_WEIGHT}")
fi
if [[ -n "${OBS_RADIUS}" ]]; then
CMD+=(--obs-radius "${OBS_RADIUS}")
fi
if [[ -n "${POLYLINE_REDUCTION_THRESHOLD}" ]]; then
CMD+=(--polyline-reduction-threshold "${POLYLINE_REDUCTION_THRESHOLD}")
fi
echo "SLURM_JOB_ID=${SLURM_JOB_ID:-unknown}"
echo "PROJECT_ROOT=${PROJECT_ROOT}"
echo "SEARCH_DIR=${SEARCH_DIR}"
echo "OUTPUT_DIR=${OUTPUT_DIR}"
echo "REPLAY_MODE=${REPLAY_MODE}"
echo "EVENT_TYPE=${EVENT_TYPE}"
echo "MAX_VIDEOS=${MAX_VIDEOS}"
echo "STOP_ON_COLLISION=${STOP_ON_COLLISION}"
echo "RENDER_3D=${RENDER_3D}"
echo "COMMAND: ${CMD[*]}"
if command -v nvidia-smi >/dev/null 2>&1; then
nvidia-smi -L || true
fi
"${CMD[@]}"
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