File size: 4,670 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 | #include "mgr.hpp"
#include "consts.hpp"
#include "types.hpp"
#include <algorithm>
#include <cstdio>
#include <chrono>
#include <string>
#include <filesystem>
#include <fstream>
#include <random>
#include <vector>
using namespace madrona;
int main(int argc, char *argv[])
{
using namespace madrona_gpudrive;
if (argc < 3) {
fprintf(stderr, "%s TYPE NUM_STEPS [--rand-actions]\n", argv[0]);
return -1;
}
std::string type(argv[1]);
ExecMode exec_mode;
if (type == "CPU") {
exec_mode = ExecMode::CPU;
} else if (type == "CUDA") {
exec_mode = ExecMode::CUDA;
} else {
fprintf(stderr, "Invalid ExecMode\n");
return -1;
}
uint64_t num_steps = std::stoul(argv[2]);
std::vector<std::string> scenes = {
"../data/processed/examples/tfrecord-00000-of-00150_78.json",
"../data/processed/examples/tfrecord-00043-of-00150_223.json",
"../data/processed/examples/tfrecord-00149-of-00150_111.json"
};
uint64_t num_worlds = scenes.size();
bool rand_actions = false;
if (argc >= 4) {
if (std::string(argv[3]) == "--rand-actions") {
rand_actions = true;
}
}
Manager mgr({
.execMode = exec_mode,
.gpuID = 0,
.scenes = scenes,
.params = {
.polylineReductionThreshold = 1.0,
.observationRadius = 100.0,
.rewardParams = {
.rewardType = RewardType::DistanceBased,
.distanceToGoalThreshold = 0.5,
.distanceToExpertThreshold = 0.5
},
.maxNumControlledAgents = 0,
}
});
std::random_device rd;
std::mt19937 rand_gen(rd());
std::uniform_real_distribution<float> acc_gen(-3.0,2.0);
std::uniform_real_distribution<float> steer_gen(-0.7,0.7);
auto action_printer = mgr.actionTensor().makePrinter();
auto self_printer = mgr.selfObservationTensor().makePrinter();
auto partner_obs_printer = mgr.partnerObservationsTensor().makePrinter();
auto map_obs_printer = mgr.mapObservationTensor().makePrinter();
auto shapePrinter = mgr.shapeTensor().makePrinter();
auto rewardPrinter = mgr.rewardTensor().makePrinter();
auto donePrinter = mgr.doneTensor().makePrinter();
auto controlledStatePrinter = mgr.controlledStateTensor().makePrinter();
auto agent_map_obs_printer = mgr.agentMapObservationsTensor().makePrinter();
auto info_printer = mgr.infoTensor().makePrinter();
auto means_printer = mgr.worldMeansTensor().makePrinter();
auto metadata_printer = mgr.metadataTensor().makePrinter();
auto printObs = [&]() {
// printf("Self\n");
// self_printer.print();
// printf("Actions\n");
// action_printer.print();
// printf("Partner Obs\n");
// partner_obs_printer.print();
// printf("Map Obs\n");
// map_obs_printer.print();
// printf("Shape\n");
// shapePrinter.print();
// printf("Reward\n");
// rewardPrinter.print();
// printf("Done\n");
// donePrinter.print();
// printf("Controlled State\n");
// controlledStatePrinter.print();
// printf("Agent Map Obs\n");
// agent_map_obs_printer.print();
// printf("Info\n");
// info_printer.print();
// printf("Means\n");
// means_printer.print();
metadata_printer.print();
};
auto worldToShape =
mgr.getShapeTensorFromDeviceMemory();
const auto start = std::chrono::steady_clock::now();
for (CountT i = 0; i < (CountT)num_steps; i++) {
if (rand_actions) {
for (CountT j = 0; j < (CountT)num_worlds; j++) {
auto agentCount = worldToShape.at(j).agentEntityCount;
for (CountT k = 0; k < agentCount; k++) {
float acc = acc_gen(rand_gen);
float steer = steer_gen(rand_gen);
float head = 0;
mgr.setAction(j, k, acc, steer, head);
}
}
}
mgr.step();
}
const auto end = std::chrono::steady_clock::now();
const std::chrono::duration<double> elapsed = end - start;
printObs();
float fps = (double)num_steps * (double)num_worlds / elapsed.count();
printf("FPS %f\n", fps);
uint64_t totalAgentCount{0};
for (CountT j = 0; j < (CountT)num_worlds; j++) {
auto agentCount = worldToShape.at(j).agentEntityCount;
totalAgentCount += agentCount;
}
float fpsNormalized = fps * totalAgentCount;
printf("Agent-Normalized FPS %f\n", fpsNormalized);
}
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